WO2021179987A1 - Robot gabarit, procédé de commande pour robot gabarit et système de robot gabarit - Google Patents

Robot gabarit, procédé de commande pour robot gabarit et système de robot gabarit Download PDF

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Publication number
WO2021179987A1
WO2021179987A1 PCT/CN2021/079077 CN2021079077W WO2021179987A1 WO 2021179987 A1 WO2021179987 A1 WO 2021179987A1 CN 2021079077 W CN2021079077 W CN 2021079077W WO 2021179987 A1 WO2021179987 A1 WO 2021179987A1
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WIPO (PCT)
Prior art keywords
template
robot
data
installation
positioning device
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PCT/CN2021/079077
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English (en)
Chinese (zh)
Inventor
刘洲
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长沙智能驾驶研究院有限公司
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Publication of WO2021179987A1 publication Critical patent/WO2021179987A1/fr

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    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • This application relates to the field of construction technology, in particular to a template robot, a template robot control method, and a template robot system.
  • a template robot includes a robot body, a processor, a robot positioning device, a robot motion device, a mechanical arm, a template positioning device, and a template;
  • the processor and the robot positioning device are respectively arranged on the robot body, the robot motion device is movably connected with the robot body, the template and the robot body are movably connected by the robot arm, the template positioning device is arranged on the robot arm connection side of the template, the robot positioning device and the robot motion device , The mechanical arm and the template positioning device are respectively connected to the processor in communication.
  • the template includes a foldable template of a plurality of parallel template units with a built-in hydraulic system, the template units in adjacent positions are hingedly connected, and the built-in hydraulic system is in communication with the processor;
  • the mechanical arm is fixedly connected with the template unit in the middle position among the plurality of parallel template units, and the foldable template includes a folded state and an unfolded state.
  • the robot body is provided with a lower panel and an upper panel for carrying the template, and the processor is arranged in a cavity formed by the upper panel and the lower panel.
  • the template robot further includes a camera device carrying lifting components
  • One end of the lifting part is connected to the camera device, and the other end of the lifting part is fixed on the lower panel of the robot body far away from the robot arm.
  • the height of the lifting part and the camera device should not be greater than the upper panel and the lower panel. the distance between.
  • the template positioning device includes a distance sensor that measures the first distance data between the template and the external wall template, and the second distance data of the template of the template robot adjacent to the position.
  • the robot movement device is a multi-leg movement device composed of a plurality of mechanical arms composed of movable connection parts.
  • the template is provided with a template fastening component, and when the template is installed, the templates of the template robots in adjacent positions are mechanically connected by the template fastening component.
  • the above-mentioned template robot controls the template robot through the processor.
  • the robot body drives the template to move to the specified position, improves the transportation efficiency of the template, and uses the robotic arm to adjust The position of the template relative to the robot body facilitates the storage of the template during transportation, avoids damage to the template during transportation, and improves the utilization rate of the template.
  • the robot arm and the template positioning device are used to install the template.
  • the template can be installed and used immediately, that is, the template can be disassembled and collected, which improves the effective reuse rate of the template and the installation efficiency of the template.
  • a template robot control method applied to the processor in the above template robot, and the method includes:
  • the template installation task data determine the target position of the robot body and the installation position of the template
  • the template position adjustment instruction is output to the robot arm, so that the robot arm moves the template to install the template.
  • the method further includes:
  • the template removal task data output the template removal instruction to the built-in hydraulic system of the robot arm and the template, so that the built-in hydraulic system controls the template folding, and the robot arm moves the folded template to the upper panel of the robot body.
  • the method further includes:
  • the receiving template positioning device collects the distance data between the template and each external object
  • the robot posture adjustment instruction is output to the robot motion device to adjust the posture of the robot body.
  • the method further includes:
  • the template connection image data analyze whether the template connection of the template robot adjacent to the position meets the preset connection requirements.
  • the method further includes:
  • the template installation task data determine the template expansion area of the template
  • the template unfolding instruction to the built-in hydraulic system of the template to unfold the template corresponding to the unfolding area of the template.
  • the above-mentioned template robot control method uses the processor to control the automatic processing of the template robot instead of manual installation tasks of the template.
  • the template is combined with the robot body, that is, install and use, that is, disassemble and receive, which realizes the effective reuse of the template.
  • the template robot carries the template to move, which not only realizes the convenient and rapid movement of the template robot, but also improves the transportation efficiency of the template.
  • the robot positioning device is used to assist the accurate positioning of the template robot, and the template positioning device is used to improve the accuracy of the template installation.
  • the device controls the installation of the template and integrates the transportation and installation of the template, which can efficiently and accurately complete the task of template installation.
  • a template robot system the system includes the above template robot and a server;
  • the server detects the template robots to be assigned tasks according to the template installation request, obtains the current position of each template robot to be assigned tasks, assigns template installation task data according to the current position of each template robot, and sends the template installation task data to The corresponding template robot.
  • sending the template installation task data to the corresponding template robot includes:
  • the server plans the movement path of each template robot according to the template installation task data, and sends the template installation task data carrying the movement path to each template robot.
  • the above-mentioned template robot system allocates tasks to multiple template robots according to the template installation request, so that each template robot can cooperate with each other to complete the tasks corresponding to the template installation request.
  • the server can uniformly deploy multiple template robots to achieve multiple tasks. Fast and accurate installation of a template to provide work efficiency.
  • Fig. 1 is a schematic diagram of the structure of a template robot in an embodiment
  • Figure 2 is a schematic structural diagram of a template robot in another embodiment
  • FIG. 3 is a schematic structural diagram of a template folding state of the template robot in an embodiment
  • Figure 4 is a schematic diagram of the structure of a template in an embodiment
  • Figure 5 is a schematic flowchart of a template robot control method in an embodiment
  • Fig. 6 is an interactive schematic diagram of a template robot control method in an embodiment
  • FIG. 7 is a schematic diagram of a process workflow of a method for controlling a template robot in another embodiment
  • Fig. 8 is a schematic diagram of the structure of the template robot system in an embodiment.
  • a template robot which includes a template 110, a robot body 120, a processor 130, a robot positioning device 140, a robot arm 150, a template positioning device 160 and a robot motion device 170.
  • the processor 130 and the robot positioning device 140 are respectively arranged on the robot body 120, the robot motion device 170 is movably connected with the robot body 120, the template 110 and the robot body 120 are movably connected by the robot arm 150, and the template positioning device 160 is arranged on the robot arm of the template 110 On the connection side, the robot positioning device 140, the robot motion device 170, the robot arm 150, and the template positioning device 160 are respectively connected to the processor 130 in communication.
  • the template robot includes a template 110 movably connected to the robot body 120, which is used to replace manual labor to realize automatic transportation, automatic installation and automatic removal of the template.
  • the template movably connected to the robot can be loaded and unloaded, for example, when the template When damage needs to be replaced, remove the old template from the robot body and install the new template on the robot body.
  • the template 110 is a mold for forming an object into a fixed shape.
  • the formwork can be a model for forming fresh concrete. It can ensure that the structure and components are accurate in shape and size, have sufficient strength, rigidity and stability, are easy to install and disassemble, can be used multiple times, and the joints are tight and do not leak.
  • the template may be a whole complete template, or it may be a foldable template composed of multiple parallel template units, which is convenient for storage, and at the same time, the area of the template can be adjusted according to requirements.
  • the template of the template robot is in the folded state, the template can be attached to the robot body, saving space occupied.
  • the foldable template includes an unfolded state and a folded state.
  • the template is provided with a template fastening component, and when the template is installed, the templates of the template robots in adjacent positions are mechanically connected by the template fastening component.
  • a variety of mechanical fastening structures can be provided at the splicing of adjacent templates of the template, such as the edge position of the template, as shown in FIG. 4, for example, a reverse U-shaped groove is provided at the edge of the template.
  • the adjacent template 1 and the template 2 can be nested with each other by setting the reverse U-shaped grooves at the splicing position of the edges, so as to achieve the effect of fastening the adjacent templates.
  • a magnetic strip that can be attracted is arranged at the edge of the template, and the attraction force of the magnetic strip is used to fasten adjacent templates.
  • the fastening of adjacent templates can also be achieved by arranging other controllable components, and the fastening action is performed by receiving the fastening instructions sent by the processor, for example, screws are set on one side of the template, and the other side
  • a screw is used to rotate the control member in the template control device to control the rotation of the screw to fasten the screw of one template and the nut of the other template when the same template is spliced.
  • the controllable component may also include a locking member that can cooperate with each other to achieve a fastening effect.
  • the robot body 120 is a bearing part of a machine device that automatically performs work.
  • the robot body 120 may be a frame structure composed of an upper panel and a lower panel.
  • the upper panel of the robot body is used to carry For templates in a state (such as transportation state or non-working state, etc.), by attaching the template to the robot body, the space occupied by the template robot can be reduced, and the damage to the template caused by collision can be effectively avoided during the transportation process.
  • the upper and lower panels are arranged to form a hollow structure. The space between the upper and lower panels can be used to install devices such as processors to improve the protection effect of the device.
  • a processor 130 is provided in the robot body 120, and the processor can receive instructions to perform corresponding processing, and can also run a pre-arranged program, and can also act according to a principled program formulated with artificial intelligence technology. Its task is to assist or replace human work, such as production, construction, or dangerous work.
  • the processor 130 is a device that interprets computer instructions and processes data in computer software. It is the "brain" of the template robot. Through the processor 130, the various devices of the template robot can be controlled, and the template installation tasks can be performed through the coordinated actions of the devices. , Template disassembly tasks, template robot position movement and other operations.
  • the processor 130 is disposed in the robot body 120, and is connected to the robot motion device 122, the robot positioning device 140, the robot arm 150, and the template positioning device 160 for data analysis and generating various control commands to each device. , And receive the feedback data from each device, and control the template robot according to the pre-configured program flow.
  • the processor of the template robot can also communicate with other template robots or servers.
  • the template robot includes a robot positioning device 140.
  • the robot positioning device 140 may be disposed on the robot body 120 and communicated with the processor 130.
  • the robot positioning device 140 is used to locate the current position of the robot body 120.
  • the number of robot positioning devices can be multiple, as shown in Figure 1, which can be symmetrically arranged on the upper panel of the robot body.
  • a cavity formed with the lower panel or the upper and lower panels of the robot body can also be provided.
  • the specific setting position is subject to accurate collection of positioning information, which is not limited here.
  • the robot positioning device 140 may receive the first positioning data collection instruction sent by the processor 130, collect the current position of the robot body in real time, and feed it back to the processor 130.
  • the robot positioning device 140 may be set at the center of the robot body 130. Taking the robot body with the robot motion device 170 as a quadruped motion device as an example, the robot positioning device 140 may be set at the four connections between the robot body 120 and the quadruped motion device. The center position of, can also be set at the four corners of the upper panel of the robot body 120. In other embodiments, the robot positioning device can also be set according to the structure of the robot body or other consideration conditions, which is not limited here.
  • the robot positioning device can be a UWB positioning device.
  • UWB is a non-carrier communication technology that uses nanosecond to microsecond non-sine wave narrow pulses to transmit data.
  • the UWB positioning device has the advantage of high positioning accuracy.
  • the template robot includes a robot arm 150, which is a device for controlling the template to move to the template installation position and the upper panel of the template robot, and assisting in the installation and removal of the template.
  • the mechanical arm includes a plurality of movably connected components, and the movable connection between the multiple components may specifically be a hinge connection or a ball hinge connection, which is used to adjust the position of the template.
  • the robot arm includes a first fixed part and a second fixed part, wherein the first fixed part is fixedly connected to the template, the second fixed part is fixedly connected to the lower panel of the robot body, and the upper panel of the robot body is provided with
  • the opening corresponding to the contour of the robot arm reduces the center position of the robot arm and increases the stability of the template robot.
  • the robot arm receives the template position adjustment in the processing area, it adjusts the template to the template installation position according to the corresponding position of the template position.
  • the fixed template facilitates the installation and removal of the template. After the template is removed, the template is controlled according to the processor instruction Move to the upper panel of the robot body.
  • the template includes a foldable template of a plurality of parallel template units with a built-in hydraulic system, the template units in adjacent positions are hingedly connected, and the built-in hydraulic system is communicatively connected with the processor; the mechanical arm is connected to a plurality of parallel template units.
  • the template unit in the middle position of the template unit is fixedly connected, and the foldable template includes a folded state and an unfolded state.
  • the length of each template unit of the foldable template is equal, and the width of the middle template unit is greater than twice that of the other template units.
  • the folding method of the foldable template is based on the template unit in the middle position. The center and both sides are respectively folded in a folding fan type, and the folded template unit is stacked to the middle template unit. The mechanical arm is fixedly connected to the middle position of the template unit in the middle position. Through the folding of the template unit, the template can be significantly reduced. The storage area is convenient for the movement and management of the template robot.
  • the built-in hydraulic system includes a hydraulic controller 180 and hydraulic pipelines arranged in each template unit.
  • the processor sends control instructions to the hydraulic controller, and controls the folding and folding of the template through the hydraulic controller and hydraulic pipelines. Unfold.
  • the unfolding area of the foldable template is adjustable, and the template control device can adjust the corresponding template unfolding control program according to the position of the template to expand the template to the required area.
  • the built-in hydraulic system can also execute a fastening program corresponding to the fastening structure according to the fastening structure of the template, and control the fastening between adjacent templates.
  • the formwork robot includes a formwork positioning device 160.
  • the formwork positioning device 160 can be arranged on the mechanical arm connection side of the formwork to avoid damage to filling objects such as concrete after the formwork is installed.
  • the template positioning device is used to locate the current position information of the template, where the current position information of the template may be relative position information with other objects, and the current position information of the template may also include one or more items.
  • the current position information of the template may include the distance from the outer wall template, the distance from the adjacent templates on both sides, and the distance from the surface of the robot body.
  • the template positioning device receives the second positioning data collection instruction sent by the processor, it collects the current position information of the template according to the preset collection requirements, such as which pieces of positioning data are collected.
  • the template positioning device includes a distance sensor that measures the first distance data between the template and the external wall template, and the second distance data of the template of the template robot adjacent to the position.
  • the distance sensor collects the distance data between each object and the template, and sends the distance data to the processor.
  • the processor determines the distance to be adjusted by the template according to the distance data between each object and the template and the distance requirement data carried by the template installation task data.
  • the template to be adjusted distance outputs the robot posture adjustment instruction to the multi-leg movement device to adjust the posture of the robot body.
  • the processor generates a robot posture adjustment instruction to the multi-leg movement device according to the template to be adjusted distance, and the multi-leg movement device adjusts the robot posture according to the template position adjustment instruction.
  • the distance sensor may include a lidar rangefinder that measures the relative distance of the object in front of the template, and may also include a distance sensor that measures the relative distance of the objects on the left and right sides of the template.
  • the distance sensor includes a sensor assembly of a first distance sensor, a second distance sensor, and a third distance sensor.
  • the first distance sensor measures the first distance data between the template and the external wall template, and sends the first distance data to the processor
  • the second distance sensor measures the second distance data between the template and the template of the template robot adjacent to the position, and sends the first distance data.
  • the second distance data is sent to the processor
  • the third distance sensor measures the third distance data between the template and the ground, and sends the third distance data to the processor
  • the processor is based on the first distance data, the second distance data, and the third processing data
  • the distance requirement data carried by the template installation task data determines the distance to be adjusted for the template.
  • the second distance data refers to the distance between the template edge of the adjacent template and the second distance sensor.
  • the second distance sensor can be arranged at the edge position of the template, where the second distance data refers to the distance between the edges of the template.
  • the third distance data refers to the distance between the template and the ground.
  • the third distance sensor is used to collect the distance from the bottom of the template to the ground. According to the third distance data, it can be determined whether the template is placed parallel to the ground. And the height distance between the template and the ground.
  • the bottom edge of the template refers to the edge of the template that needs to be in contact with the ground during the installation of the template.
  • the template robot includes a robot motion device 170, which is a mechanical component that drives the robot body to move.
  • the robot motion device 170 may be arranged at the bottom of the robot body to drive the robot body to move.
  • the robot motion device receives a movement instruction sent by the processor, it moves with a target position corresponding to the movement instruction as a target.
  • the robot motion device may be a robot motion device, a crawler motion device, a pulley motion device, or the like.
  • the robot motion device is a multi-legged motion device composed of a plurality of mechanical arms composed of movable connecting parts.
  • the robot motion device may be a quadruped motion device, and each foot is The mechanical arm composed of multiple movable connection parts, the processor performs coordinated control of the multiple feet, and has the advantages of fast walking speed and high adjustment accuracy.
  • the robot motion device includes a multi-leg motion device that supports level, height, and angle adjustment.
  • the horizontal position can be adjusted by controlling the movement of multiple feet
  • the height position can be adjusted by synchronous bending
  • the angle can be adjusted by asynchronous bending.
  • the specific process may include sending a downward movement instruction of the robot body to the multi-leg movement device.
  • the synchronous bending of the multi-leg movement device causes the position of the robot body to move down a certain distance.
  • the template moves up the position and the robot body moves down the position.
  • the height can be equal to avoid damage to the template when the robot body moves down.
  • the processor sends a height adjustment instruction to the template control device according to the height to be adjusted. This embodiment is suitable for the case where the precision of the template control device is higher than that of the multi-leg exercise device.
  • the multi-leg movement device when the control accuracy of the multi-leg movement device is high, can also be used to directly adjust the height of the robot template, and at the same time realize the adjustment of the height of the template. It can be understood that the control process of moving up the position of the template is similar to that of moving down, and will not be repeated here.
  • the horizontal adjustment of the template is similar to the height adjustment.
  • the processor sends a horizontal position movement instruction to the multi-leg movement device, and through the synchronized horizontal movement of the multi-leg movement device, The horizontal position of the robot body is adjusted to realize the adjustment of the horizontal position of the template.
  • the template robot further includes a camera device 190 provided on the robot body.
  • the camera device 190 may specifically be a camera device carrying a lifting component. One end of the lifting component is connected to the camera device, and the other end of the lifting component is fixed on the bottom plate of the robot body at one end away from the robot arm. The sum of the height of the component and the camera device shall not be greater than the distance between the upper panel and the lower panel.
  • one end of the lifting component connected to the camera device may be provided with a movable connection component. Based on the lifting component, the height adjustment and camera angle adjustment of the camera device based on the robot body can be realized.
  • the camera device is used to collect the template connection image data after the template connection with the template robot of the position vector is completed, and send it to the processor or control center. Whether the template connection meets the preset connection requirements to ensure the tightness of the template connection, where the preset connection requirements include the set allowable range of the connection gap.
  • the image data collection range of the camera device can be expanded, and the image data collection range can be adjusted.
  • the template robot further includes a power supply device, and the power supply device may be an energy storage battery to provide power for each device of the template robot.
  • the above-mentioned template robot controls the template robot through the processor.
  • the robot body drives the template to move to the specified position, improves the transportation efficiency of the template, and uses the robotic arm to adjust The position of the template relative to the robot body facilitates the storage of the template during transportation, avoids damage to the template during transportation, and improves the utilization rate of the template.
  • the robot arm and the template positioning device are used to install the template.
  • the template can be installed and used immediately, that is, the template can be disassembled and collected, which improves the effective reuse rate of the template and the installation efficiency of the template.
  • the automatic processing of the template robot replaces the manual installation task of the template.
  • the template is combined with the robot body, which is installed and used, that is, disassembled and collected, which realizes the effective reuse of the template.
  • the template robot carries the template to move, not only the template is realized The robot moves quickly and conveniently, and improves the transportation efficiency of the template.
  • the robot positioning device is used to assist the accurate positioning of the template robot, the template positioning device is used to improve the accuracy of the template installation, and the template installation is controlled by the template control device.
  • Formwork transportation and formwork installation are integrated, and formwork installation tasks can be completed efficiently and accurately.
  • a template robot control method is provided, which is applied to the processor in the above template robot, and the method includes step 510 to step 540.
  • Step 510 Obtain template installation task data.
  • Step 520 Determine the target position of the robot body and the installation position of the template according to the template installation task data.
  • Step 530 Receive the robot body positioning data fed back by the robot positioning device in real time, and send a drive control instruction to the robot motion device to move the robot body to the target position.
  • Step 540 When the robot body moves to the target position, according to the template positioning data returned by the template positioning device and the installation position of the template, output a template position adjustment instruction to the robot arm so that the robot arm moves the template to install the template.
  • the template installation task data can be task data issued by a server communicatively connected with the processor, or task data pre-stored in the processor.
  • the processor determines the target position of the robot body and the template installation position of the template according to the template installation task data, generates a movement instruction according to the target position and sends it to the robot motion device, and the processor real-time Receive the current position information of the robot body detected and fed back by the robot positioning device, and compare the current position information of the robot body with the target position.
  • the processor sends a movement stop instruction to the robot motion device to make The robot body stops at the target position to facilitate the installation of the template.
  • the processor receives the positioning information returned by the template positioning device, and obtains the current position information of the template.
  • the processor generates a template position adjustment instruction according to the template installation position and sends it to the mechanical arm, so that the mechanical arm controls the movement of the template to install the template. If not necessary, the above-mentioned data processing process can be performed synchronously or sequentially.
  • the processor when the robot body stops at the target position, the processor sends a template position fixing instruction to the built-in hydraulic system of the template, so that the built-in hydraulic system controls the template to unfold, and the robot arm loads the unfolded template to the template.
  • the processor receives the template current position information detected and fed back by the template positioning device on the template in real time, and compares the template current position information with the template installation position.
  • the template current position information is the same as the template installation position, proceed Template installation.
  • the position information can be the relative position of a set reference object.
  • the set reference object can be a stationary object or a movable object.
  • the ground can be used as a reference object, or the location of other template robots can be used as a reference. Things.
  • the method further includes step 710 to step 720.
  • Step 710 Obtain template removal task data.
  • Step 720 According to the template removal task data, output the template removal instruction to the built-in hydraulic system of the robot arm and the template, so that the built-in hydraulic system controls the template folding, and the robot arm moves the folded template to the upper panel of the robot body.
  • the removal process of the template is the inverse process of the installation process of the template.
  • the processor sends the template removal instruction to the built-in hydraulic system of the robot arm and the template according to the template removal task data.
  • the demolition time can be set according to the template demolition task data. When the set demolition time is reached, the template will be demolished.
  • the set demolition time can be a specific time point or a distance from the completion of pouring. period.
  • the template control device removes the template according to the template removal instruction.
  • the fastening structure needs to be released first, and then the folding and turning of the template are controlled by the built-in hydraulic system of the robot arm and the template, and the template is stored in a position where it is attached to the robot body.
  • the method further includes receiving distance data between the template and each external object collected by the template positioning device. According to the distance data between each external object and the template and the distance requirement data carried by the template installation task data, the distance to be adjusted for the template is determined. According to the template to be adjusted distance, the robot posture adjustment instruction is output to the robot motion device to adjust the posture of the robot body.
  • the processor receives the distance data between the template and each object collected by the distance sensor, extracts the distance requirement data carried by the template installation task data, and determines the template waiting according to the distance difference between the distance data of each object and the template and the distance requirement data. Adjust the distance, and output a robot posture adjustment instruction to the multi-leg movement device according to the template to be adjusted distance, and the multi-leg movement device adjusts the robot posture according to the template position adjustment instruction.
  • the distance of the template to be adjusted may include the distances in various directions of front, back, left, and right.
  • the method further includes receiving template connection image data collected by the camera device in the template robot; according to the template connection image data, analyzing whether the template connection of the template robot adjacent to the position meets the preset connection requirements.
  • the processor receives the template connection image data collected by the camera device, and ensures the tightness of the template connection by analyzing the template connection image data and whether the template connection of the template robot of the position vector meets the preset connection requirements.
  • the preset connection requirement may be that there is no gap between adjacent templates, or the gap is smaller than a set size.
  • the processor can also be connected to other devices such as other template robots or servers through a network.
  • multiple template robots can communicate between template robots through their respective processors.
  • the processor can also be connected to the cloud control center to receive data information from the cloud control center.
  • the cloud control center can update the processor’s pre-configuration process and send template installation task data .
  • the template disassembly task data is sent to the corresponding processor, and the processor controls the execution of corresponding operations according to the data information sent by the control center.
  • the control center may plan the path of each template robot according to the position information of each template robot and the template installation task, and send the planned movement path of the template robot to the processor of each template robot.
  • the method further includes: determining the template expansion area of the template according to the template installation task data, and outputting the template expansion instruction to the built-in hydraulic system of the template according to the template expansion area to expand the template corresponding to the template expansion area.
  • the processor When the processor receives the robot positioning result feedback from the robot positioning device, it generates a template unfolding instruction according to the unfolding area of the template and sends it to the built-in hydraulic system.
  • the built-in hydraulic system controls the unfolding of the folding template according to the template unfolding instruction.
  • the processor sequentially sends template position adjustment instructions and template installation instructions to the robotic arm.
  • the built-in hydraulic system is used to control the flip of the template to realize the switching between the folded state and the flat state of the template. Due to different installation tasks, the corresponding overall installation area may be different. Not all installation tasks can be installed by an integer number of the same template, unless the area of a single template is small enough, but the template is too small. Conducive to large-area installation.
  • the splicing area of the template can be flexibly adjusted, especially at the corners of the wall.
  • the role of the foldable template is particularly important.
  • a template robot system is provided, and the system includes a plurality of template robots 820 and a server 810.
  • the server detects the template robots to be assigned tasks, obtains the current position of each template robot to be assigned tasks, and allocates template installation task data according to the current position of each template robot and the current position of each template robot. And send the template installation task data to the corresponding template robot.
  • sending the template installation task data to the corresponding template robot includes: the server plans the movement path of each template robot according to the template installation task data, and sends the template installation task data carrying the movement path to each Template robot.
  • the server may specifically be a cloud server.
  • the movement path of each template robot is planned through the server, which realizes the orderly movement of the template robot and improves the movement efficiency of the template robot.
  • the server when the server receives the installation completion information fed back by the template robot and the template removal condition is met, the server determines the template removal task data corresponding to the template installation task data, and sends the template removal task data to the corresponding The template robot, so that the template robot removes the template.
  • the communication device of the template robot is used to realize the data interaction of the positioning data, and the template installation position of each template robot is corrected and adjusted to achieve The template installation of the whole space.
  • a formwork robot that can self-assemble and splice, it can self-assemble and splice into the inner formwork of a frame-type concrete building in a few minutes according to the design requirements, and ensure the accuracy of the construction through its own positioning device, and then compare it with the currently widely used construction.
  • the outer wall templates of the building robots form the inner and outer templates together, and the concrete can be poured immediately. When the concrete solidifies, the robots are disconnected from each other and walk out of the doorway of the building to build the template for the next floor.
  • the server includes a processor, a memory, a network interface, and a database connected through a system bus.
  • the processor of the computer device is used to provide calculation and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium and an internal memory.
  • the non-volatile storage medium stores an operating system, a computer program, and a database.
  • the internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium.
  • Servers include physical servers or cloud servers.
  • the server determines the required template information, including the required template area and quantity, and detects the template installation request input by the user or the template installation request automatically generated by the smart site background according to the construction requirements of the construction site.
  • the template robot of the task and obtain the position information of the robot to be assigned to the task, and according to the position information and the required template information, based on the principle of the shortest moving distance, determine the layout of the template robot.
  • the server plans the movement path of each template robot according to the layout of the template robot , And send the template installation task data with path planning to the template robot.
  • the template robot determines the target position of the robot body and the template installation position according to the template installation task data.
  • the processor receives the robot body feedback from the robot positioning device in real time.
  • Positioning data sending drive control instructions to the robot body to move the robot body to the target position.
  • the template control device will unfold the template according to the template installation task data, and position the template.
  • the template positioning device measures the distance of the outer building template and adjusts the longitudinal position of the template.
  • the left and right installation and template positioning devices sense the position of adjacent template robots and adjust accordingly according to the preset distance and angle to realize the combination of multiple template robots.
  • the server When the server receives the installation completion information fed back by the template robot and the template removal conditions are met, the server will plan the exit path of each template robot according to the order of entry of the robots and the principle of last in first out, and send the exit path with it Dismantle the task data of the template to the corresponding template robot, so that the template robots will leave the construction site in turn.
  • the server has a fixed map of the construction site and manages the numbering of the template robots according to their destinations.
  • the server sends the template installation task data to the template robots carrying positioning and 5G communication devices, and the template robots are sequentially fixed according to the server instructions , And maintain a precise connection with the previous robot template.
  • a second confirmation will be performed according to the data collected by the camera.
  • the second confirmation can be performed by the processor of the template robot, or by the server.
  • the server processes the image data to obtain the template boundary, and calculates the distance between the templates through the boundary. According to the preset value of the on-site construction situation, when the calculated distance is less than the preset value, it is accurate. When it is inaccurate, it sends an adjustment instruction to the template robot according to the difference between the calculated distance and the preset value, where the adjustment range is based on the preset value of the on-site construction.

Abstract

Robot gabarit, comprenant : un corps de robot (120), un processeur (130), un dispositif de positionnement de robot (140), un dispositif de déplacement de robot (170), un bras mécanique (150), un dispositif de positionnement de gabarit (160) et un gabarit (110). Le processeur (130) et le dispositif de positionnement de robot (140) sont respectivement situés au niveau du corps de robot (120) ; le dispositif de déplacement de robot (170) est relié mobile au corps de robot (120) ; le gabarit (110) est relié mobile au corps de robot (120) au moyen du bras mécanique (150) ; le dispositif de positionnement de gabarit (160) est situé au niveau d'un côté de liaison du bras mécanique (150) du gabarit ; le dispositif de positionnement de robot (140), le dispositif de déplacement de robot (170), le bras mécanique (150) et le dispositif de positionnement de gabarit (160) sont respectivement en liaison de communication avec le processeur (130). Le robot peut réaliser le montage et l'utilisation, le démontage et la collecte du gabarit (110), et un taux de réutilisation efficace du gabarit (110) et l'efficacité de montage du gabarit sont améliorés. L'invention concerne également un procédé de commande pour le robot gabarit et un système de robot gabarit.
PCT/CN2021/079077 2020-03-11 2021-03-04 Robot gabarit, procédé de commande pour robot gabarit et système de robot gabarit WO2021179987A1 (fr)

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