Accurate in-place robot for building prefabricated part based on machine vision

Abstract

The invention relates to an accurate in-place robot for a building prefabricated part based on machine vision. The accurate in-place robot can achieve accurate in-place of box-shaped and columnar prefabricated parts on a fabricated building construction site. The robot is characterized in that a system platform serves as an overall frame support, and four universal wheel structures are installed on the two sides of the platform, so that all-directional movement of the robot device in a horizontal plane area can be achieved, and the operation area is enlarged; a toothed bar column is fixedly mounted on the system platform, and the toothed bar column is provided with a component clamping mechanical arm and two vision adjusting mechanical arms, so that free adjustment can be conducted withinthe space limit range, the operation flexibility is improved, and the operation precision is improved; cameras are installed on the two vision adjusting mechanical arms to form a binocular vision system, and position images of the prefabricated parts and the target installation points are obtained; and the clamping mechanical arms are controlled to clamp the prefabricated parts and adjust the positions of the prefabricated parts through the obtained position images, so that accurate positioning is achieved, and the automation degree and efficiency of prefabricated part installation are improved.

Description

technical field [0001] The invention relates to the technical field of construction machinery, in particular to a machine vision-based robot for precisely positioning building prefabricated components. Background technique [0002] At this stage, my country's industrialized buildings have entered a period of rapid development, but at present, in the construction of industrialized buildings, there are problems such as low degree of automation, high labor intensity, low efficiency, and difficult safety guarantees when using traditional construction equipment. Especially in the construction of industrialized buildings, there are problems such as low component positioning efficiency, low installation accuracy, large labor volume, high labor intensity, and poor safety guarantee. Difficulty in meeting the construction needs of industrialized buildings has become one of the main bottlenecks restricting the development of industrialized buildings. Therefore, the research and develo...

AI Technical Summary

Problems solved by technology

Box-shaped or column-shaped prefabricated components are the types of prefabricated components often used in prefabricated building construction. Its precise assembly basically relies on manual alignment and positioning, which not only has low work efficiency, but also has high labor intensity and high risk.

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