TWM643714U - Building system - Google Patents

Abstract

A construction system is suitable for performing a construction process on a plurality of parts to be constructed of an object to be constructed, and includes a mechanical arm, an image shooting module and a computing device. The computing device generates a three-dimensional model related to the object to be constructed in a virtual space. For each part to be constructed, the computing device controls the mechanical arm to move the image capture module to four different shooting positions to capture four images related to the part to be constructed, and corrects the position coordinates of the part to be constructed in the virtual space according to the images and the shooting positions corresponding to the part to be constructed. Wait for the build part and do the build process.

Description

Construction system

The present invention relates to a construction system, in particular to a construction system using a mechanical arm which integrates computer vision and a mechanical arm.

Although the domestic construction technology is stable at present, it is difficult to make breakthroughs at the technical level. Most of the construction sites still use stable but highly dangerous and labor-intensive construction methods. This also directly and indirectly affects the country as a whole. Opportunities for field demonstrations. In addition, due to the aging of the population structure, the reduction of the labor force is a common population problem faced by developed countries around the world. In the future, the overall labor force participation rate is bound to decrease rather than increase.

To be able to cooperate with the digital transformation promoted by the government, the domestic construction industry needs to take the intelligentization of the construction industry as an opportunity for transformation. The introduction of robotic arms can help the construction industry break out of the labor-intensive and highly dangerous situation, and instead introduce the concept of human-machine collaboration, driving the future industry to a new direction of "design-oriented, technology-mediated, and construction-oriented", leading the cultivation and output of human-machine collaborative talents, and then driving the industrial model transfer of smart construction.

However, most of the existing robotic arms are used in factory automation control, two of which are off-line programming (Off-line Programming) and point-to-point (PTP) work path control. These two points will face great challenges for the application of robotic arms to architectural-oriented digital manufacturing. First of all, architectural designers mostly use three-dimensional models to design projects, rather than thinking about the working path of the robotic arm. Furthermore, the factory’s manufacturing methods are mostly one-directional workflows (One-directional Workflow), which means that the products to be produced must be clearly programmed in advance. This pre-established workflow (Established Workflow) may be beneficial for mass production. When the external environment changes, the working path can be adjusted in real time to meet the current action target or user's intention.

Therefore, the purpose of the present invention is to provide a construction system that can timely adjust the working path according to the external environment.

Therefore, the new construction system is suitable for performing a construction process on a plurality of parts to be constructed of an object to be constructed, and includes a robot arm, an image capture module installed on the robot arm, and a computing device for signal connection between the robot arm and the image capture module.

Wherein, the computing device generates a three-dimensional model related to the object to be constructed in a virtual space, wherein the coordinate system of the virtual space is consistent with a world coordinate system. For each part to be constructed, the computing device controls the mechanical arm to move the image shooting module to four different shooting positions to capture four images related to the part to be constructed respectively, and correct the position coordinates of the part to be constructed in the virtual space according to the images and the shooting positions corresponding to the part to be constructed, and according to the part to be constructed The corrected position coordinates in the virtual space control the mechanical arm to move to the position coordinates of the part waiting to be constructed in the world coordinate system, and perform the construction process on the part waiting to be constructed.

The function of the present invention is: control the mechanical arm to move the image shooting module to four different shooting positions by the computing device to shoot four images related to the part to be constructed, and correct the position coordinates of the part to be constructed in the virtual space according to the images corresponding to the part to be constructed and the shooting positions, and control the movement of the robot arm according to the corrected position coordinates of the part waiting to be constructed in the virtual space.

Referring to FIG. 1 and FIG. 5 , the embodiment of the new construction system is suitable for performing a construction process on a plurality of parts 101 to be constructed of an object 100 to be constructed. In this embodiment, the waiting construction parts 101 are a plurality of points to be welded respectively, but it is not limited thereto. The construction system 1 includes a robot arm 11 , an image capture module 12 installed on the robot arm 11 , and a computing device 13 signally connecting the robot arm 11 and the image capture module 12 . The robot arm 11 includes a solder output module 111 for outputting solder, a welding module 112 for melting solder, and a robot arm body. The implementation of the robot arm 11 is, for example, a modified Shangyin RA620 robot arm 11 with a soldering function. An implementation of the image capture module 12 is, for example, a depth camera. The implementation of the computing device 13 is, for example, a server, a personal computer, a notebook computer, a tablet computer, or a smart phone.

Referring to FIG. 1 , FIG. 2 and FIG. 5 , the operation details of the construction system 1 will be described below through a construction method using a robotic arm. The construction method using a robotic arm includes the following steps.

In step 21 , the computing device 13 generates a three-dimensional model related to the object to be constructed 100 and the robot arm 11 in a virtual space, wherein the coordinate system of the virtual space is consistent with a world coordinate system. It is worth noting that the three-dimensional model is generated through the computing device 13 through a user's input operation, wherein the size ratio of the object model corresponding to the object 100 to be constructed in the three-dimensional model is consistent with the size ratio of the object 100 to be constructed, and the size ratio of the arm model corresponding to the robot arm 11 in the three-dimensional model is consistent with the size ratio of the robot arm 11.

In step 22 , for each part to be constructed 101 , the computing device 13 controls the mechanical arm 11 to move the image capturing module 12 to four different shooting positions to capture four images related to the part to be constructed 101 .

In step 23, for each to-be-constructed part 101, the computing device 13 corrects the position coordinates of the to-be-constructed part 101 in the virtual space according to the images and the shooting positions corresponding to the to-be-constructed part 101.

It is worth mentioning that step 23 includes the following sub-steps (see Figure 3).

In sub-step 231 , for each to-be-constructed portion 101 , the computing device 13 respectively obtains four distances between the shooting positions and the to-be-constructed portion 101 according to the images corresponding to the to-be-constructed portion 101 .

In sub-step 232, for each part 101 to be constructed, the computing device 13 obtains the position coordinates of the part 101 to be constructed in the world coordinate system by using a four-point positioning method according to the position coordinates of the shooting positions corresponding to the part 101 to be constructed in the world coordinate system and the equidistance.

In sub-step 233, for each to-be-constructed part 101, the computing device 13 corrects the position coordinate of the to-be-constructed part 101 in the virtual space according to the position coordinate of the to-be-constructed part 101 in the world coordinate system. In this way, the position coordinates of the waiting construction part 101 in the virtual space can be adjusted in real time according to the change of the real environment, so that the position of the waiting construction part 101 in the virtual space matches the position of the waiting construction part 101 in the real world.

In step 24, the computing device 13 controls the mechanical arm 11 to move to the position coordinates of the waiting construction part 101 in the world coordinate system according to the corrected position coordinates of the waiting construction part 101 in the virtual space, and performs the construction process on the waiting construction part 101.

It is worth mentioning that step 24 includes the following sub-steps (see Figure 4).

In sub-step 241 , the computing device 13 obtains a working path through the waiting construction part 101 according to the corrected position coordinates of the waiting construction part 101 in the virtual space. It is worth mentioning that in this embodiment, the construction process is welding, and the welding process will involve the consideration of the assembly direction and order due to gravity in the real world. The better way is to weld from the bottom up and from the inside out. Therefore, the computing device 13 arranges the welding sequence for each part 101 to be constructed using the logic of bottom-up and inside-out. The developed KUKA|PRC robot arm path programming software function command plugged into Grasshopper is used to design and plan the path of the robot arm 11 to obtain the working path. The computing device 13 calculates the path of the robot arm 11 in real time and adaptively according to the corrected position coordinates of the waiting construction part 101 in the virtual space, so as to more precisely control the robot arm 11 to reach the correct position for the construction process.

In sub-step 242, the computing device 13 controls the robot arm 11 to move to the position coordinates of the part 101 waiting for construction in the world coordinate system according to the working path, and performs construction processing such as welding on the part 101 waiting for construction.

In summary, the new construction system uses the computing device 13 to control the mechanical arm 11 to move the image capture module 12 to four different shooting positions to capture four images related to the part to be constructed 101 respectively, and to correct the position coordinates of the part to be constructed 101 in the virtual space according to the images corresponding to the part to be constructed 101 and the shooting positions, and to control the robotic arm 11 according to the corrected position coordinates of the part to be constructed 101 in the virtual space Mobile, combined with computer vision to achieve the purpose of real-time adjustment of the robotic arm 11 according to changes in the environment, so as to complete a set of curved steel grid construction methods that can independently adapt to the shape of the steel bar for spot welding, and finally complete the self-supporting structure of the robotic arm 11. Therefore, can really reach the purpose of this novel.

But the above-mentioned ones are only embodiments of the present model, and should not limit the scope of the present model implementation. All simple equivalent changes and modifications made according to the scope of the patent application for the present model and the contents of the patent specification are still within the scope covered by the patent of the present model.

1: Construction system 11: Mechanical arm 111:Solder output module 112: Welding module 12: Image shooting module 13: Computing device 100: Objects to be constructed 101: Parts to be constructed 21~24: Steps 231~233: Steps 241~242: Steps

Other features and functions of the present invention will be clearly presented in the implementation manner with reference to the drawings, wherein: Fig. 1 is a block diagram, illustrates the embodiment that implements the new construction system of the present invention; Fig. 2 is a flow chart illustrating a construction method using a robotic arm; Fig. 3 is a flowchart illustrating how a computing device corrects the position coordinates of each part to be constructed in a virtual space; Fig. 4 is a flowchart illustrating how the computing device controls a mechanical arm to move to each part to be constructed for a construction process; and FIG. 5 is a schematic diagram illustrating a construction environment to which the embodiment of the new construction system is applicable.

1: Construction system

11: Mechanical arm

111:Solder output module

112: Welding module

12: Image shooting module

13: Computing device

Claims (5)

A construction system, suitable for performing a construction process on a plurality of parts to be constructed of an object to be constructed, and comprising: a mechanical arm; an image capture module installed on the robotic arm; and A computing device, signally connected to the robotic arm and the image capture module; Wherein, the computing device generates a three-dimensional model related to the object to be constructed and the robotic arm in a virtual space, wherein the coordinate system of the virtual space is consistent with a world coordinate system. For each part to be constructed, the computing device controls the robotic arm to move the image shooting module to four different shooting positions to capture four images related to the part to be constructed, and correct the position coordinates of the part to be constructed in the virtual space according to the images and the shooting positions corresponding to the part to be constructed. The corrected position coordinates of the part waiting to be constructed in the virtual space are controlled to move the mechanical arm to the position coordinates of the part waiting to be constructed in the world coordinate system, and the construction process is performed on the part waiting to be constructed. The construction system as described in claim 1, wherein, for each part to be constructed, the computing device respectively obtains four distances between the shooting positions and the part to be constructed according to the images corresponding to the part to be constructed, and obtains the position coordinates of the part to be constructed in the world coordinate system according to the position coordinates of the shooting positions corresponding to the part to be constructed in the world coordinate system and the distances, and corrects the position of the part to be constructed in the virtual coordinate system according to the position coordinates of the part to be constructed in the world coordinate system The coordinates of the location in space. The construction system as described in claim 2, wherein, for each part to be constructed, the computing device uses a four-point positioning method to obtain the position coordinates of the part to be constructed in the world coordinate system according to the position coordinates of the shooting positions corresponding to the part to be constructed in the world coordinate system and the distances. The construction system as described in Claim 1, wherein the computing device obtains a working path through the part waiting to be constructed according to the corrected position coordinates of the part waiting to be constructed in the virtual space, and according to the working path, controls the mechanical arm to move to the position coordinate of the part waiting to be constructed in the world coordinate system, and performs the construction process on the part waiting to be constructed. In the construction system described in claim 1, the parts waiting to be constructed are respectively a plurality of points to be welded, wherein the robotic arm includes a solder output module for outputting solder and a welding module for melting solder, and the computing device is used for construction processing of welding for the parts waiting to be constructed.

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