CN109291033A - A kind of building element installation system and its control method based on robot - Google Patents
A kind of building element installation system and its control method based on robot Download PDFInfo
- Publication number
- CN109291033A CN109291033A CN201811259626.9A CN201811259626A CN109291033A CN 109291033 A CN109291033 A CN 109291033A CN 201811259626 A CN201811259626 A CN 201811259626A CN 109291033 A CN109291033 A CN 109291033A
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- China
- Prior art keywords
- robot
- building element
- mechanical arm
- connector
- posture
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
The invention discloses a kind of building element installation system and its control method based on robot, the system comprises: tower crane sends synchronization signal for building element to be hung to the top of installation site, and when declining building element；Robot, for the building element to be sucked and adjusts the posture of the building element；Then the synchronization signal is received, itself posture is adjusted according to the synchronization signal, so that building element keeps current posture vertically to decline；The robot includes controller, communication module, camera, the pedestal equipped with movement mechanism and the mechanical arm being mounted on the base；The pedestal is equipped with station keeping radar, and the mechanical arm is equipped with lifting unit in pedestal one end, and the mechanical arm is equipped with electromagnet sucker in the other end.The present invention cooperates tower crane to install building element by robot, substitutes manual work, can ensure the safety of worker.The present invention can be widely applied to building automation field.
Description
Technical field
The present invention relates to building automation field, especially a kind of building element installation system and its control based on robot
Method processed.
Background technique
Now with the development of Building technology, much newly-built building is all applied with modular building element
Work allows the construction of building simple as playing with building blocks.Building building element used is built, is produced in the factory
It transports after coming to construction site and is installed.
It, generally can be in the reserved peace in building element bottom in order to guarantee to be able to carry out connection between building element and building element
Dress hole, and the reserved steel bar at the top of building element.In this way, mounting hole and reinforcement installation can be passed through between two building elements
Together, then construction personnel can from the glue orifice of building element side toward the junction encapsulating water of two building elements or
The substances such as cement are fixedly connected with two building elements.
In building element installation, building element is hung above scheduled installation site generally by loop wheel machine, due to
The visual field of loop wheel machine driver is restricted and loop wheel machine precision is limited, can only be hung building element above rough position, so
Finely tune the position and direction of building element by three or four workers again afterwards.By manually being operated, if there is event in loop wheel machine
Barrier, building element is easy to pound worker, dangerous.
Summary of the invention
In order to solve the above technical problems, it is an object of the invention to: a kind of safe building structure based on robot is provided
Part installation system and its control method.
The first technical solution adopted by the present invention is:
A kind of building element installation system based on robot, comprising:
Tower crane sends synchronous letter for building element to be hung to the top of installation site, and when declining building element
Number；
Robot, for the building element to be sucked and adjusts the posture of the building element；Then the synchronization is received
Signal adjusts itself posture according to the synchronization signal, so that building element keeps current posture vertically to decline；
The robot includes controller, communication module, camera, the pedestal equipped with movement mechanism and is mounted on described
Mechanical arm on pedestal；The pedestal is equipped with station keeping radar, and the mechanical arm is inhaled in one end far from pedestal equipped with electromagnet
Disk, the mechanical arm are equipped with lifting unit in one end of connection pedestal；
The controller is connect with communication module, movement mechanism, station keeping radar, mechanical arm and camera respectively.
Further, the electromagnet sucker is equipped with the groove of cross or Y-shaped.
Further, it is also equipped with range sensor on the electromagnet sucker, the range sensor is connect with controller.
Further, the mechanical arm is equipped at least four joints.
Further, warning lamp is additionally provided in the robot.
Second of technical solution adopted by the present invention is:
A kind of control method of the building element installation system based on robot, for the controller of the robot, packet
Include following steps:
When robot is moved to job position, the image of camera acquisition is obtained；
The connector of building element is identified from described image；
According to the position, shape and size of the connector in the picture, current opposite of connector and robot is obtained
Positional relationship；
According to the connector and the current relative positional relationship of robot, mechanical arm is obtained by moving inverse arithmetic
The first adjustment parameter；
The posture that mechanical arm is adjusted according to the first adjustment parameter, contacts electromagnet sucker with the connector, and
The connector is sucked in control electromagnet sucker；
According to installation site, connector is obtained in the correct position of present level；
According to connector in the correct position of present level, the second adjustment that mechanical arm is obtained by moving inverse arithmetic is joined
Number；
According to the second adjustment parameter adjust mechanical arm posture, make building element be moved to installation site just on
Side；
Receive the synchronization signal that tower crane is sent；
The posture that mechanical arm is adjusted according to the synchronization signal, declines building element vertically with current posture.
Further, the posture that mechanical arm is adjusted according to the synchronization signal, specifically:
According to the synchronization signal, the current decrease speed of building element is obtained；
According to the decrease speed of the current decrease speed adjustment lifting unit of building element.
Further, it is described acquisition camera acquisition image the step of before, it is further comprising the steps of:
Determine the relative positional relationship of robot and job position；
According to the relative positional relationship of the robot and job position, controls movement mechanism and move the robot into operation
Position.
Further, the relative positional relationship of the determining robot and job position, specifically includes:
Obtain the data of station keeping radar acquisition；
According to the data that station keeping radar acquires, the relative positional relationship of robot and installation site is determined；
According to the relative positional relationship of the robot and installation site, the relative position of robot and job position is determined
Relationship.
Further, the connector is sucked in the control electromagnet sucker, specifically includes:
Obtain the parameter of the range sensor acquisition on electromagnet sucker；
According to the parameter that the range sensor acquires, judge whether electromagnet sucker has been bonded with connector；If so,
It then powers to electromagnet sucker, electromagnet sucker is made to generate suction；Conversely, then resetting mechanical arm, and returns and obtained described in execution
The step of image for taking camera to acquire.
The beneficial effects of the present invention are: the present invention cooperates tower crane to install building element by robot, manual work is substituted,
It can ensure the safety of worker.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the building element of specific embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of the building element installation system based on robot of specific embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of the robot of specific embodiment of the present invention；
Fig. 4 is a kind of module frame chart of the robot of specific embodiment of the present invention.
Specific embodiment
The present invention is further detailed with specific embodiment with reference to the accompanying drawings of the specification.
Before implementing this programme, it would be desirable in the production process of building element, on the setting position of building element
Connector is set, and the connector is made of ferromagnetic metals such as iron, cobalt, nickel, can be sucked by electromagnet.The connector
Section can be cross or Y type, in order to be identified by image recognition algorithm, while being also convenient for robot in the company of being sucked
Put forth effort after fitting.As shown in Figure 1, several connectors 101 can be arranged in we on multiple sides of building element 100, with
Building element 100 can be sucked from different directions convenient for robot, be conducive to the job position for adjusting robot in construction.
As shown in Fig. 2, present embodiment discloses a kind of building element installation system based on robot, which includes hanging
Tower 200 and robot 300.
Tower crane 200 for building element 100 to be hung to the top of installation site 400, and declines building element 100
When, send synchronization signal；
Robot 300, for the building element 100 to be sucked and the building element 100 is accurately directed to installation
Right above position 400；Then the synchronization signal is received, itself posture is adjusted according to the synchronization signal, so that building element
100 keep current posture vertically to decline；
Referring to Fig. 3, the robot include controller, communication module, camera, the pedestal 301 equipped with movement mechanism with
And it is mounted on the mechanical arm 302 on the pedestal 301；The pedestal is equipped with station keeping radar, and the mechanical arm 302 is the bottom of far from
One end of seat 301 is equipped with electromagnet sucker 3021, and the mechanical arm 302 is equipped with lifting unit 3022 in one end of connection pedestal 301.
Referring to Fig. 4, the controller connects with communication module, movement mechanism, station keeping radar, mechanical arm and camera respectively
It connects.
Wherein, mechanical arm can be realized using the mechanical arm of multi-joint, preferably use four mechanical arms with upper joint,
The mechanical arm should the adjustable electromagnet sucker position and angle, the position include front and rear, left and right and height
It is low.The lifting unit can be realized using screw structure or fluid pressure type structure.
The movement mechanism can cooperate crawler belt or several universal wheels to realize with several motors.The movement mechanism
Robot should can be driven accurately to move.The movement mechanism can advance with mobile robot, retreat, turning and original place
Rotation.
The station keeping radar is used to confirm the relative position of installation site and robot.
In some embodiments, we can also control robot and be moved to accurate work by way of manual remote control
Industry position.The job position is generally located on beside installation site, we input job position and installation to robot in advance
The relative positional relationship of position allows robot accurately to guide the installation of building element.
In further embodiments, robot can scan the reinforcing bar in installation site by station keeping radar, and according to steel
The distribution situation of muscle and each reinforcing bar determine the relative positional relationship of installation site and robot at a distance from robot, and combine
The relationship of job position and installation site obtains the relative positional relationship of robot and job position, and then robot voluntarily transports
Move job position.
In further embodiments, robot can be by way of image recognition, and Direct Recognition is arranged in job position
Identification feature, such as two dimensional code.Robot is determined as the relative positional relationship of position and itself according to these identification labels,
Then robot autonomous travel is to job position.
In the present embodiment, tower crane plays the role of load-bearing, and it is that building element is mobile that robot, which plays,
To the upper pros of installation site, and electromagnet sucker building element is controlled, then makes electromagnet sucker by pose adjustment and hang
The synchronous decline of tower, so that building element keeps correct posture in decline.In practical applications, tower crane first hangs building element
Near above to installation site, since tower crane precision is limited and the visual field of tower crane driver is blocked, the reality of building element
There are certain deviation, the deviation may be the deviation of angle for border position and installation site, it is also possible to apart from upper deviation,
For example 2~3CM of deviation, 1~2 ° of deviation.At this time we can be ajusted the posture of building element by robot.So that
Building element decline when can accurately with ground steel reinforcement abutting joints.
As preferred embodiment, in order to which connector is preferably sucked, we can be stud connector design at section
For the groove that cross or Y-shaped are then arranged on the electromagnet sucker of cross perhaps Y-shaped.The present embodiment
It can enable electromagnet sucker that connector is sucked securely, form better impetus.
As preferred embodiment, in order to confirm whether electromagnet sucker has been close to connector, the electromagnet
Range sensor is also equipped on sucker, the range sensor is connect with controller.The present embodiment is by being mounted on electromagnet
Range sensor on sucker, it can be seen that the distance between electromagnet sucker and connector, to whether judge the two
It has been close to.
As preferred embodiment, for the working condition of worker's current robot around being indicated in operation,
Warning lamp is additionally provided in the robot.
The control method of present embodiment discloses a kind of building element installation system based on robot is used for the machine
The controller of people, comprising the following steps:
S1, when robot is moved to job position, obtain camera acquisition image.In this step, robot can be with
Specified job position is moved to by way of manual control, it can also be by way of image recognition or by positioning thunder
Mode up to positioning is automatically moved to specified job position.The job position is generally located on beside installation site, and with
Installation site keeps certain distance, in order to which the mechanical arm of robot has enough adjustment spaces.
S2, the connector that building element is identified from described image.The connector we can design across or
Person's Y-shaped.Different from the cement quality of building element since connector is made of ferromagnetic metal, also difference is very for color
Greatly, therefore robot can be identified by image.
S3, the position, shape and size according to the connector in the picture obtain the connector phase current with robot
To positional relationship.We can in advance demarcate the image frame of robot, i.e., how much is each graduation mark representative in image
Transverse and longitudinal distance, so that we according to the position of connector in the picture, can learn the height and the offset of left and right of connector.
Meanwhile we can judge building element with the presence or absence of angular deviation according to the shape of connector.If there is angular deviation,
The shape of connector in the picture can deform, and therefore, the misalignment angle of building element can also be according to the current of connector
Shape acquire.Equally, the size of connector can reflect out the far and near distance of connector.Therefore we can by image come
Obtain position of the connector relative to robot.
S4, according to the connector and the current relative positional relationship of robot, obtain machinery by moving inverse arithmetic
The first adjustment parameter of arm.In this step, we can ask calculation that electromagnet sucker is moved to connection by moving inverse arithmetic
When part position, the angle in each joint of mechanical arm.
S5, the posture that mechanical arm is adjusted according to the first adjustment parameter, contact electromagnet sucker with the connector,
And it controls electromagnet sucker and the connector is sucked.
S6, according to installation site, obtain connector in the correct position of present level.Due to job position and installation site
Relationship be known, and connector belongs to standard component, and the position on building element is also determining, it can be seen that
Under present level, the correct position of connector when building element is exactly at the surface of installation site, at this time machine
People only needs to swing in battery iron sucker this position i.e. and can guarantee that the posture of building element is correct.
S7, according to connector in the correct position of present level, obtain the second of mechanical arm by moving inverse arithmetic and adjust
Whole parameter.Equally, the current posture of mechanical arm is determining, and the target position of electromagnet sucker is also determining, Wo Menke
To seek the adjustment angle for calculating each joint of mechanical arm again by movement inverse arithmetic.
S8, the posture that mechanical arm is adjusted according to the second adjustment parameter, make building element be moved to installation site just
Top.By adjusting building element is ajusted.As long as at this point, the decline synchronous with tower crane of electromagnet sucker, it will be able to guarantee
Building element is smoothly installed.
S9, the synchronization signal that tower crane is sent is received.Whether tower crane first can confirm building element before sending synchronization signal
In place.Validation testing can be manual confirmation, be also possible to send confirmation signal after robot completes pose adjustment.
S10, the posture that mechanical arm is adjusted according to the synchronization signal, decline building element vertically with current posture.
As preferred embodiment, in order to decline electromagnet sucker smoothly, robot can be by adjusting lifting unit
Decrease speed carry out, the step S10 synchronous with tower crane holding, specifically:
S101, according to the synchronization signal, obtain the current decrease speed of building element；
S102, the decrease speed that lifting unit is adjusted according to the current decrease speed of building element.
As preferred embodiment, in order to enable the present embodiment more automates, it further include following step before step S1
It is rapid:
S01, the relative positional relationship for determining robot and job position；
S02, according to the relative positional relationship of the robot and job position, control movement mechanism and move the robot into
Job position.
As preferred embodiment, specific positioning method is present embodiments provided, the step S01 is specifically included:
S011, the data for obtaining station keeping radar acquisition；
S012, the data acquired according to station keeping radar, determine the relative positional relationship of robot and installation site；
According to the relative positional relationship of the robot and installation site, the relative position of robot and job position is determined
Relationship.
As preferred embodiment, in order to guarantee that electromagnet sucker can reliably be connect with connector, the step S5
Described in control electromagnet sucker the connector is sucked, refer specifically to:
S51, the parameter that the range sensor on electromagnet sucker acquires is obtained；
S52, the parameter acquired according to the range sensor, judge whether electromagnet sucker has been bonded with connector；
If so, powering to electromagnet sucker, electromagnet sucker is made to generate suction；Conversely, then resetting mechanical arm, and returns and execute institute
The step of stating the image for obtaining camera acquisition.
For the step number in above method embodiment, it is arranged only for the purposes of illustrating explanation, between step
Sequence do not do any restriction, the execution of each step in embodiment sequence can according to the understanding of those skilled in the art come into
Row is adaptively adjusted.
It is to be illustrated to preferable implementation of the invention, but the present invention is not limited to the embodiment above, it is ripe
Various equivalent deformation or replacement can also be made on the premise of without prejudice to spirit of the invention by knowing those skilled in the art, this
Equivalent deformation or replacement are all included in the scope defined by the claims of the present application a bit.
Claims (10)
1. a kind of building element installation system based on robot, it is characterised in that: include:
Tower crane sends synchronization signal for building element to be hung to the top of installation site, and when declining building element；
Robot, for the building element to be sucked and adjusts the posture of the building element；Then the synchronization signal is received,
Itself posture is adjusted according to the synchronization signal, so that building element keeps current posture vertically to decline；
The robot includes controller, communication module, camera, the pedestal equipped with movement mechanism and is mounted on the pedestal
On mechanical arm；The pedestal is equipped with station keeping radar, and the mechanical arm is equipped with electromagnet sucker, institute in one end far from pedestal
It states mechanical arm and is equipped with lifting unit in one end of connection pedestal；
The controller is connect with communication module, movement mechanism, station keeping radar, mechanical arm and camera respectively.
2. a kind of building element installation system based on robot according to claim 1, it is characterised in that: the electromagnetism
Iron sucker is equipped with the groove of cross or Y-shaped.
3. a kind of building element installation system based on robot according to claim 1, it is characterised in that: the electromagnetism
Range sensor is also equipped on iron sucker, the range sensor is connect with controller.
4. a kind of building element installation system based on robot according to claim 1, it is characterised in that: the machinery
Arm is equipped at least four joints.
5. a kind of building element installation system based on robot according to claim 1, it is characterised in that: the machine
Warning lamp is additionally provided on people, the warning lamp is connect with controller.
6. a kind of control method of the building element installation system based on robot as described in claim 1, is used for the machine
The controller of device people, it is characterised in that: the following steps are included:
When robot is moved to job position, the image of camera acquisition is obtained；
The connector of building element is identified from described image；
According to the position, shape and size of the connector in the picture, connector and the current relative position of robot are obtained
Relationship；
According to the connector and the current relative positional relationship of robot, the first of mechanical arm is obtained by moving inverse arithmetic
Adjusting parameter；
The posture that mechanical arm is adjusted according to the first adjustment parameter, contacts electromagnet sucker with the connector, and control
The connector is sucked in electromagnet sucker；
According to installation site, connector is obtained in the correct position of present level；
According to connector in the correct position of present level, the second adjustment parameter of mechanical arm is obtained by moving inverse arithmetic；
The posture that mechanical arm is adjusted according to the second adjustment parameter, makes building element be moved to the surface of installation site；
Receive the synchronization signal that tower crane is sent；
The posture that mechanical arm is adjusted according to the synchronization signal, declines building element vertically with current posture.
7. a kind of control method of building element installation system based on robot according to claim 6, feature exist
In: the posture that mechanical arm is adjusted according to the synchronization signal, specifically:
According to the synchronization signal, the current decrease speed of building element is obtained；
According to the decrease speed of the current decrease speed adjustment lifting unit of building element.
8. a kind of control method of building element installation system based on robot according to claim 7, feature exist
In: it is described acquisition camera acquisition image the step of before, it is further comprising the steps of:
Determine the relative positional relationship of robot and job position；
According to the relative positional relationship of the robot and job position, controls movement mechanism and move the robot into operation position
It sets.
9. a kind of control method of building element installation system based on robot according to claim 8, feature exist
In: the relative positional relationship of the determining robot and job position specifically includes:
Obtain the data of station keeping radar acquisition；
According to the data that station keeping radar acquires, the relative positional relationship of robot and installation site is determined；
According to the relative positional relationship of the robot and installation site, determine that the relative position of robot and job position is closed
System.
10. a kind of control method of building element installation system based on robot according to claim 9, feature exist
In: the connector is sucked in the control electromagnet sucker, specifically includes:
Obtain the parameter of the range sensor acquisition on electromagnet sucker；
According to the parameter that the range sensor acquires, judge whether electromagnet sucker has been bonded with connector；If so, to
The power supply of electromagnet sucker, makes electromagnet sucker generate suction；Conversely, then resetting mechanical arm, and returns to the execution acquisition and take the photograph
As head acquire image the step of.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811259626.9A CN109291033A (en) | 2018-10-26 | 2018-10-26 | A kind of building element installation system and its control method based on robot |
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| CN201811259626.9A CN109291033A (en) | 2018-10-26 | 2018-10-26 | A kind of building element installation system and its control method based on robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114033183A (en) * | 2021-11-04 | 2022-02-11 | 广东天凛高新科技有限公司 | Robot with model building wall, control method and building construction equipment |
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Effective date of registration: 20190819 Address after: 524400 West 36 Jianjian Avenue, Lianjiang City, Guangdong Province Applicant after: Guangdong Qiangxiong Construction Group Co.,Ltd. Address before: 510000 Room 507, 46 Yard, 12 Airport Road, Baiyun District, Guangzhou City, Guangdong Province Applicant before: GUANGZHOU SHENG'AN ENVIRONMENTAL PROTECTION TECHNOLOGY Co.,Ltd. |
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Application publication date: 20190201 |
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| RJ01 | Rejection of invention patent application after publication |