CN219956457U - Terrace roughness detection robot - Google Patents
Terrace roughness detection robot Download PDFInfo
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- CN219956457U CN219956457U CN202223534981.7U CN202223534981U CN219956457U CN 219956457 U CN219956457 U CN 219956457U CN 202223534981 U CN202223534981 U CN 202223534981U CN 219956457 U CN219956457 U CN 219956457U
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- 238000001514 detection method Methods 0.000 title claims abstract description 45
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 238000003384 imaging method Methods 0.000 claims abstract description 8
- 238000002347 injection Methods 0.000 claims abstract description 8
- 239000007924 injection Substances 0.000 claims abstract description 8
- 230000008054 signal transmission Effects 0.000 claims description 21
- 238000005507 spraying Methods 0.000 claims description 6
- 238000007599 discharging Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000007547 defect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 206010070834 Sensitisation Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000008313 sensitization Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 210000000887 face Anatomy 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000049 pigment Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
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Abstract
In order to solve the defects in the prior art, the utility model provides a terrace flatness detection robot, which comprises: a robot body. The robot is characterized in that one side of the robot main body is provided with an outwards extending workbench, at least two scanning type laser ranging sensors are arranged at the top of the workbench, and a camera shooting mechanism is arranged at the bottom of the workbench. The scanning surfaces of the at least two scanning laser ranging sensors are not completely overlapped with each other, and at least cover the preset advancing direction and two side partial areas of the robot main body. The imaging end of the imaging mechanism faces to the ground. And an injection mechanism is fixed on one side of the robot main body, which is opposite to the workbench. The utility model realizes the automatic detection of the whole terrace by adopting the automatic cruising detection mode of the robot, and effectively solves the problems of few detection points, low manual rechecking efficiency and poor accuracy in the existing terrace detection.
Description
Technical Field
The utility model belongs to the technical field of building construction, and particularly relates to a terrace flatness detection robot.
Background
The floor is a floor which is constructed and treated on the original floor by using specific materials and processes and has certain decoration and functionality. After the floor is manufactured, detection and acceptance of the floor are required, and flatness detection of the floor is important.
The existing terrace flatness detection method mainly depends on laser positioning detection equipment, judges terrace flatness based on the height difference between detection points, and has low detection efficiency because manual rechecking is needed for the part without the detection points. Meanwhile, the continuous change of small amplitude is difficult to be detected by naked eyes, so that the problem of missed detection and false detection easily occurs, and the construction quality of the terrace is influenced.
Disclosure of Invention
The utility model provides a terrace flatness detection robot aiming at the problems existing in the existing terrace flatness detection, which comprises: a robot body. The robot is characterized in that one side of the robot main body is provided with an outwards extending workbench, at least two scanning type laser ranging sensors are arranged at the top of the workbench, and a camera shooting mechanism is arranged at the bottom of the workbench. The scanning surfaces of the at least two scanning laser ranging sensors are not completely overlapped with each other, and at least cover the preset advancing direction and two side partial areas of the robot main body. The imaging end of the imaging mechanism faces to the ground. And an injection mechanism is fixed on one side of the robot main body, which is opposite to the workbench.
The robot is characterized in that a wireless signal transmission module, a first gyroscope, a microprocessor and at least two electric control driving devices are arranged inside the robot body. The wireless signal transmission module is connected with an external system end through wireless signals. And the signal input end of the microprocessor is respectively connected with the signal output ends of the camera mechanism and the scanning laser ranging sensor wireless signal transmission module. The signal output end of the microprocessor is respectively connected with the control signal input end of the electric control driving device and the signal input end of the wireless signal transmission module. The signal output end of the first gyroscope is in signal connection with one signal input end of the wireless signal transmission module. The driving output end of the electric control driving device is in driving connection with the driving wheel.
Further, a second gyroscope is further arranged inside the robot main body. The first gyroscope and the second gyroscope are respectively positioned at positions close to the workbench and the spraying mechanism. The signal output end of the second gyroscope is in signal connection with one signal input end of the wireless signal transmission module.
Further, the injection mechanism includes: and the charging barrel frame is internally and removably provided with a charging barrel. The bottom of the charging barrel frame is provided with an electric control sprayer, a nozzle of the electric control sprayer faces the ground, and a feeding end of the electric control sprayer is communicated with a discharging end of the charging barrel. The control signal input end of the electric control sprayer is in signal connection with one signal output end of the microprocessor.
Further, a shake detection mechanism is arranged between the robot main body and the image pickup mechanism. The shake detection mechanism includes: and the laser transmitter is fixed on one side of the robot main body, which faces the image pickup mechanism, and is suspended by dead weight, and the reflecting mirror is fixed on one side of the image pickup mechanism, which faces the laser transmitter. The laser transmitter is equipped with first sensitization board above, and the below is equipped with the second sensitization board. The control signal input end of the laser transmitter is in signal connection with one signal output end of the microprocessor. The signal output ends of the first photosensitive plate and the second photosensitive plate are respectively connected with one signal input end of the microprocessor in a signal way.
Furthermore, a plurality of photoelectric sensors are arranged on the photosensitive surfaces of the first photosensitive plate and the second photosensitive plate in a matrix arrangement.
Further, the laser transmitter is fixed with the inner ring of the bearing through a rotating shaft. The outer ring of the bearing is fixed with the robot main body. The balancing weight with the dead weight exceeding the total weight of the laser transmitter by more than 3 times is arranged at the bottom of the laser transmitter.
The utility model has at least one of the following advantages:
1. the utility model realizes the automatic detection of the whole terrace by adopting the automatic cruising detection mode of the robot, and effectively solves the problems of few detection points, low manual rechecking efficiency and poor accuracy in the existing terrace detection.
2. The utility model can form a change map and a physical map of the floor surface, can carry out liquid spraying marking on the detected non-flatness, and is convenient for secondary rechecking of staff.
3. The utility model can accurately detect the non-flat point with jitter variation exceeding the preset range in the process of robot operation, and further improves the detection accuracy.
Drawings
Fig. 1 is a schematic structural view of a floor flatness detection robot according to the present utility model.
Fig. 2 is a schematic diagram showing the distribution of scanning surfaces of four scanning laser ranging sensors according to the present utility model.
Fig. 3 is a schematic structural diagram of the shake detecting mechanism according to the present utility model.
Detailed Description
The present utility model will be described in further detail with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model. Furthermore, the description of the vertical, horizontal, top, bottom, etc. positional relationships in the present utility model merely represents the relative positions of the components and is not an absolute position in any state.
Example 1
A floor flatness detection robot, as shown in fig. 1, comprising: a robot body 1. One side of the robot main body 1 is provided with an outwards extending workbench 101, the top of the workbench 101 is provided with two or three or four or other designed number of scanning type laser ranging sensors 3, and the bottom of the workbench is provided with an image pickup mechanism 2. The scanning surfaces of the scanning laser ranging sensor 3 are not completely overlapped with each other, and at least cover a preset advancing direction and both side partial areas of the robot body 1. As shown in fig. 2, taking four scanning laser ranging sensors 3 as an example, the four scanning laser ranging sensors 3 are respectively: 3-A, 3-B, 3-C, 3-D, the scanning surfaces of which are 301-A, 301-B, 301-C, 301-D, respectively. At this time, the eye robot advances in the direction 301-A toward the left, 301-B toward the front left, 301-A toward the right, 301-B toward the front right, and the four scan fields each have a main scan area and a partial overlap area. This arrangement may substantially completely cover a larger area of the scan in front of the robot.
The imaging end of the imaging mechanism 2 faces the ground. An injection mechanism is fixed on one side of the robot main body 1 facing away from the workbench 101. The robot body 1 is internally provided with a wireless signal transmission module 104, a first gyroscope 103, a microprocessor 105, and two or four or six or other designed number of electric control driving devices 102. The wireless signal transmission module 104 is connected with the external system end 7 through wireless signals. The signal input end of the microprocessor 105 is respectively connected with the signal output ends of the wireless signal transmission module 104 of the camera mechanism 2 and the scanning laser ranging sensor 3. The signal output end of the microprocessor 105 is respectively connected with the control signal input end of the electric control driving device 102 and the signal input end of the wireless signal transmission module 104. The signal output end of the first gyroscope 103 is in signal connection with one signal input end of the wireless signal transmission module 104. The driving output end of the electric control driving device 102 is in driving connection with the driving wheel 4.
The electric equipment in the robot main body 1 is powered by an external power supply or a built-in storage battery.
The working process of the device is as follows: the robot is first placed at one corner of the floor and started. Then, the external system end 7 (such as a PC end or a handheld mobile intelligent end) sends a patrol start instruction to the microprocessor 105 through the wireless signal transmission module 104, the microprocessor 105 sends a control instruction to the electric control driving device 102 according to a preset program, and the robot cruises along a preset path under the driving of the rotation of the driving wheel 4. Meanwhile, the first gyroscope 103 transmits real-time deflection information of the robot relative to the absolute horizontal plane to the external system end 7 through the wireless signal transmission module 104, and the external system end 7 can judge the overall inclination of the terrace according to the information. The scanning type laser ranging sensor 3 sends distance information of the robot and the surrounding obstacles to the microprocessor 105 in real time, and the microprocessor 105 adjusts the cruising path according to a pre-stored program. The camera 2 sends the shooting information to the microprocessor 105 in real time, the microprocessor 105 judges whether the ground obstacle exists or not, the cruising path is adjusted according to the pre-stored program, meanwhile, the real-time ground shooting information is sent to the external system end 7 through the wireless signal transmission module 104, and the external system end 7 can obtain a ground real-scene graph according to the information. When the microprocessor 105 determines that there is a ground obstacle, the injection mechanism is controlled to perform injection marking at the obstacle point.
Therefore, the automatic inspection of the grade, the obstacle on the surface of the terrace and the real scene of the terrace is completed by the cruising of the robot, and the problems of few detection points, low manual rechecking efficiency and poor accuracy in the existing terrace detection are effectively solved. And meanwhile, the generated physical image on the surface of the terrace can be used for carrying out liquid spraying marking on the detected non-flatness, so that the secondary recheck of staff is facilitated.
Example 2
Based on the terrace flatness detection robot of embodiment 1, as shown in fig. 1, a second gyroscope 106 is further disposed inside the robot body 1. The first gyroscope 103 and the second gyroscope 106 are respectively located near the workbench 101 and near the spraying mechanism. The signal output end of the second gyroscope 106 is in signal connection with one signal input end of the wireless signal transmission module 104.
Through two gyroscopes with a certain distance, the horizontal inclination angle of the robot can be known more accurately, and errors caused by the gravity center deviation of the robot are eliminated.
Example 3
Based on the terrace flatness detection robot of embodiment 1, as shown in fig. 1, the injection mechanism includes: and the charging barrel frame 5 is provided with a charging barrel in an inserting and pulling manner. The bottom of the charging barrel frame 5 is provided with an electric control sprayer 6, a nozzle 601 of the electric control sprayer 6 faces the ground, and a feeding end of the electric control sprayer 6 is communicated with a discharging end of the charging barrel. The control signal input of the electrically controlled sprayer 6 is in signal connection with a signal output of the microprocessor 105.
At this time, when the mark needs to be sprayed, the microprocessor 105 sends a spraying instruction to the electric control sprayer 6, the electric control sprayer 6 is controlled to start, and the pigment in the charging barrel is sprayed to the vicinity of the target mark point through the nozzle 601, so that the manual re-inspection is facilitated.
Example 4
Based on the terrace flatness detection robot of embodiment 1, a shake detection mechanism 8 is provided between the robot body 1 and the image pickup mechanism 2. As shown in fig. 3, the shake detection mechanism 8 includes: a laser emitter 804 fixed to the robot body 1 on the side facing the image pickup mechanism 2 and suspended by its own weight, and a mirror 802 fixed to the image pickup mechanism 2 on the side facing the laser emitter 804. A first light sensing plate 801 is arranged above the laser transmitter 804, and a second light sensing plate 803 is arranged below the laser transmitter 804. The control signal input of the laser transmitter 804 is in signal communication with a signal output of the microprocessor 105. The signal output terminals of the first photosensitive plate 801 and the second photosensitive plate 803 are respectively connected with a signal input terminal of the microprocessor 105.
The first photosensitive plate 801 and the second photosensitive plate 803 are arranged in a matrix on the photosensitive surface.
The laser transmitter 804 is fixed with the inner ring of the bearing 805 through a rotating shaft 806. The outer ring of the bearing 805 is fixed to the robot body 1. The bottom of the laser transmitter 804 is provided with a balancing weight 807 which has a weight which is more than 3 times of the total weight of the laser transmitter 804.
At this time, when the robot is affected by the uneven point of the terrace during inspection, the laser transmitter 804 can deflect reversely along the bearing 805 relative to the robot body 1 due to the action of the counterweight 807, and at this time, the reflecting mirror 802 and the laser transmitter 804 emit laser to form an included angle and reflect, if the reflected light falls on a photosensitive plate 801 or a second photosensitive plate 803 to generate a photoelectric signal, it is indicated that the uneven point needs to be rechecked. Meanwhile, the further the electric sensor receiving the photoelectric signal is from the laser transmitter 804, the larger the amplitude of shake or vibration of the robot body 1 is, the more the non-leveling point is apparent.
Through the added shake detection mechanism 8, the shake change of the robot in the process of proceeding is accurately detected, the non-flat point exceeding the preset range can be obtained, and the detection accuracy is further improved.
It should be noted and understood that various modifications and improvements could be made to the utility model as described in detail above without departing from the spirit and scope of the utility model as claimed. Accordingly, the scope of the claimed subject matter is not limited by any particular exemplary teachings presented.
Claims (6)
1. Terrace roughness detection robot, its characterized in that includes: a robot body (1); one side of the robot main body (1) is provided with an outwards extending workbench (101), the top of the workbench (101) is provided with at least two scanning laser ranging sensors (3), and the bottom of the workbench is provided with an image pickup mechanism (2); the scanning surfaces of the at least two scanning laser ranging sensors (3) are not completely overlapped with each other and at least cover the preset advancing direction and two side partial areas of the robot main body (1); the imaging end of the imaging mechanism (2) faces the ground; an injection mechanism is fixed on one side of the robot main body (1) opposite to the workbench (101);
a wireless signal transmission module (104), a first gyroscope (103), a microprocessor (105) and at least two electric control driving devices (102) are arranged in the robot main body (1); the wireless signal transmission module (104) is connected with an external system end (7) through wireless signals; the signal input end of the microprocessor (105) is respectively connected with the signal output ends of the camera shooting mechanism (2) and the scanning laser ranging sensor (3) wireless signal transmission module (104) in a signal way; the signal output end of the microprocessor (105) is respectively connected with the control signal input end of the electric control driving device (102) and the signal input end of the wireless signal transmission module (104) in a signal manner; the signal output end of the first gyroscope (103) is in signal connection with one signal input end of the wireless signal transmission module (104); the driving output end of the electric control driving device (102) is in driving connection with the driving wheel (4).
2. The terrace flatness detection robot according to claim 1, wherein a second gyroscope (106) is further provided inside the robot body (1); the first gyroscope (103) and the second gyroscope (106) are respectively positioned close to the workbench (101) and the spraying mechanism; the signal output end of the second gyroscope (106) is in signal connection with one signal input end of the wireless signal transmission module (104).
3. The floor flatness detection robot of claim 1, wherein the jetting mechanism comprises: a charging barrel frame (5), wherein a charging barrel is arranged in the charging barrel frame (5) in an inserting and pulling way; an electric control sprayer (6) is arranged at the bottom of the charging barrel frame (5), a nozzle (601) of the electric control sprayer (6) faces the ground, and a feeding end of the electric control sprayer (6) is communicated with a discharging end of the charging barrel; the control signal input end of the electric control sprayer (6) is connected with a signal output end of the microprocessor (105) in a signal mode.
4. The floor flatness detection robot according to claim 1, characterized in that a shake detection mechanism (8) is provided between the robot main body (1) and the image pickup mechanism (2); the shake detection mechanism (8) includes: a laser emitter (804) fixed on the robot body (1) towards the side of the camera mechanism (2) and suspended by self weight, and a reflecting mirror (802) fixed on the side of the camera mechanism (2) towards the laser emitter (804); a first photosensitive plate (801) is arranged above the laser emitter (804), and a second photosensitive plate (803) is arranged below the laser emitter; the control signal input end of the laser transmitter (804) is in signal connection with one signal output end of the microprocessor (105); the signal output ends of the first photosensitive plate (801) and the second photosensitive plate (803) are respectively connected with one signal input end of the microprocessor (105) in a signal mode.
5. The floor flatness detection robot according to claim 4, wherein a plurality of photosensors are arranged in a matrix on the photosensitive surfaces of the first photosensitive plate (801) and the second photosensitive plate (803).
6. The floor flatness detection robot of claim 4, wherein the laser emitter (804) is fixed with an inner ring of a bearing (805) through a rotation shaft (806); an outer ring of the bearing (805) is fixed with the robot main body (1); the bottom of the laser emitter (804) is provided with a balancing weight (807) with the weight more than 3 times of the total weight of the laser emitter (804).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223534981.7U CN219956457U (en) | 2022-12-29 | 2022-12-29 | Terrace roughness detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223534981.7U CN219956457U (en) | 2022-12-29 | 2022-12-29 | Terrace roughness detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219956457U true CN219956457U (en) | 2023-11-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223534981.7U Active CN219956457U (en) | 2022-12-29 | 2022-12-29 | Terrace roughness detection robot |
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| Country | Link |
|---|---|
| CN (1) | CN219956457U (en) |
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2022
- 2022-12-29 CN CN202223534981.7U patent/CN219956457U/en active Active
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