Robot for cable reel pay-off construction

Abstract

A robot for cable reel pay-off construction comprises a trolley body used for driving a mechanical arm component, a positioning module, a peripheral information obtaining module, a communication module and a path planning module to move; the positioning module is used for acquiring real-time position information of the trolley main body; the peripheral information acquisition module is used for acquiring real-time article information around the trolley main body; the communication processing module is used for acquiring the real-time position information and the real-time article information, planning and acquiring a real-time motion path through the real-time position information and the real-time article information, and respectively sending the real-time motion path and the real-time article information to the trolley main body and the mechanical arm component; and the mechanical arm component is used for grabbing the workpiece according to the real-time position information and the real-time article information. According to the robot for cable reel pay-off construction, manual work is replaced for high operation, autonomous navigation, multi-degree-of-freedom operation and intelligent fixing can be achieved, work tasks can be completed more conveniently and efficiently, and the work efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cable reel construction equipment, in particular to a robot for cable reel laying-out construction. Background Art

[0002] During electrical construction, the cable reels need to be transported a second time. The cable reels are heavy and large in size, making them difficult to transport.

[0003] The traditional method requires workers to fix the cable reel with a binding belt, hang the binding belt on the truck crane, and then multiple workers hold the cable reel and lift it to a fixed position. Then, they use a support rod to support the cable reel in place before starting to lay the cable. This method is physically and mentally intensive, and there are problems such as irregular handling and frequent accidents. The use of new devices can be more convenient and efficient. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a cable reel laying construction robot that can replace manual labor to perform operations, can navigate autonomously, operate with multiple degrees of freedom and be intelligently fixed, and can complete work tasks more conveniently and efficiently, thereby improving work efficiency.

[0005] The present invention provides a cable reel laying construction robot, comprising a trolley body, a mechanical arm component, a positioning module, a peripheral information acquisition module, a communication processing module and a path planning module, wherein the mechanical arm component, the positioning module, the peripheral information acquisition module, the communication module and the path planning module are assembled on the trolley body, wherein:

[0006] The vehicle body is used to drive the movement of the robotic arm component, positioning module, peripheral information acquisition module, communication module and path planning module;

[0007] The positioning module is used to obtain the real-time position information of the vehicle body;

[0008] The surrounding information acquisition module is used to obtain real-time object information around the vehicle body;

[0009] The communication processing module is used to obtain the real-time location information and the real-time item information, plan a real-time motion path based on the real-time location information and the real-time item information, and send the real-time motion path and the real-time item information to the trolley body and the robotic arm component respectively;

[0010] The robotic arm component is used to grasp the workpiece according to the real-time position information and the real-time object information.

[0011] In one embodiment, the surrounding information acquisition module includes:

[0012] An ultrasonic unit, used to obtain location information of objects around the vehicle body;

[0013] The camera unit obtains the types of objects around the vehicle body and matches the object position information with the object type.

[0014] In one embodiment, the communication processing module includes:

[0015] A Raspberry Pi 4B unit is used to obtain the real-time location information and plan a real-time motion path based on the real-time location information and real-time object information;

[0016] The Arduino communication unit is used to send the real-time motion path and the real-time object information to the trolley body and the robotic arm component respectively.

[0017] In one embodiment, the robotic arm component includes a rotating chassis, a first elastic driver, a large arm, a second elastic driver, a small arm, a servo and a metal clamping rod. The rotating chassis is assembled on the trolley body, the first elastic driver is assembled on the rotating chassis, the large arm is connected to the first elastic driver and the second elastic driver, the small arm is connected to the second elastic driver and the servo, and the metal clamping rod is assembled together with the servo.

[0018] In one embodiment, the robotic arm component also includes a pressure sensor and a PID control unit, both of which are mounted on the metal clamping rod. The pressure sensor is used to detect the pressure between the metal clamping rod and the cable reel, and the PID control unit is used to control the metal clamping rod according to the pressure.

[0019] In one embodiment, the vehicle body includes a chassis, a Mecanum wheel, an encoder motor, and a power module. The Mecanum wheel, the encoder motor, and the power module are all assembled on the chassis. The encoder motor is used to drive the movement of the Mecanum wheel. The power module supplies power to the encoder motor. The robotic arm component, the positioning module, the peripheral information acquisition module, the communication processing module, and the path planning module are all assembled on the chassis.

[0020] The cable reel laying construction robot provided by the present invention replaces manual labor in performing operations, is capable of autonomous navigation, multi-degree-of-freedom operation, and intelligent fixation, and can complete work tasks more conveniently and efficiently, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 This is a schematic structural diagram of the cable reel laying-out construction robot provided by the present invention.

[0023] Figure 2 This is a schematic structural diagram of the mechanical arm component of the cable reel laying-out construction robot provided by the present invention. DETAILED DESCRIPTION

[0024] Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the described embodiments are merely some, and not all, of the embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the description of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0025] In the description of the present invention, unless otherwise specified or limited, the terms "disposed," "installed," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; and direct or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of these terms based on the specific circumstances.

[0026] The directions or positional relationships indicated by terms such as "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside" and "outside" are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0027] The terms "first," "second," "third," etc. are merely used to distinguish between elements of similar nature and do not indicate or imply relative importance or a particular order.

[0028] The terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than the listed elements and may also include additional elements not specifically listed.

[0029] See also Figure 1The cable reel laying construction robot provided by the present invention includes a trolley body, a mechanical arm component, a positioning module, a peripheral information acquisition module 15, a communication processing module and a path planning module. The mechanical arm component, the positioning module, the peripheral information acquisition module, the communication module and the path planning module are assembled on the trolley body, wherein,

[0030] The main body of the vehicle is used to drive the movement of the robotic arm components, positioning module, peripheral information acquisition module, communication module and path planning module;

[0031] The positioning module 13 is used to obtain the real-time position information of the vehicle body.

[0032] It is understandable that the positioning module may be a GPS positioning module.

[0033] The surrounding information acquisition module 15 is used to obtain real-time information about objects around the vehicle body;

[0034] The communication processing module is used to obtain real-time location information and real-time object information, plan a real-time motion path based on the real-time location information and real-time object information, and send the real-time motion path and real-time object information to the trolley body and the robotic arm component respectively;

[0035] The robotic arm component is used to grasp the workpiece according to real-time position information and real-time object information.

[0036] It is understandable that when the cable reel needs to be transported, each unit first performs a self-check, the robotic arm component resets to the initial state, the positioning module determines the initial real-time position of the trolley body, the surrounding information acquisition module obtains the position information of obstacles and cable reels around the trolley body, the communication processing module obtains the position information of obstacles and cable reels, and performs path planning in combination with the initial real-time position to obtain a real-time motion path, the trolley body moves to the preset grabbing position according to the real-time motion path, the communication processing module determines the position information of the cable reel, the robotic arm component grabs the cable reel according to the position information of the cable reel, the robotic arm component drives the cable reel to perform the line-laying operation according to the line-laying path, and the task is completed. The robot will reset to the initial position and can return to the charging base station along the original path or the newly planned path, and continue to upload task logs (such as cable length, time consumption, fault records) on the way, enter sleep mode, and wait for the next task instruction.

[0037] In some embodiments, the surrounding information acquisition module 15 includes:

[0038] Ultrasonic unit, used to obtain the location information of objects around the vehicle body;

[0039] The camera unit obtains the types of objects around the vehicle body and matches the object position information with the object type.

[0040] It can be understood that the ultrasonic unit obtains the location information of objects around the main body of the trolley, including the location information of the surrounding obstacles and the location information of the cable reel to be grasped. The camera unit includes a camera and a YOLO target detection algorithm subunit. The camera obtains photos of objects around the main body of the trolley. The YOLO target detection algorithm subunit detects the types of surrounding objects, that is, determines whether the surrounding objects are obstacles or cable reels, and matches the object location information with the corresponding object types.

[0041] In some embodiments, the communication processing module includes:

[0042] Raspberry Pi 4B unit 12, used to obtain real-time location information and plan according to the real-time location information and real-time object information to obtain a real-time movement path;

[0043] The Arduino communication unit 16 is used to send the real-time motion path and real-time object information to the vehicle body and the robotic arm component respectively.

[0044] It can be understood that the surrounding information acquisition module sends the acquired real-time location information to the Raspberry Pi 4B unit 12. The baud rate of the Raspberry Pi 4B unit 12 is 9600 by default. It can build an environmental map based on the SLAM algorithm, and combine the positioning module 13 (ultrasonic, infrared) to detect obstacles and slope information, and plan the optimal path, that is, the real-time motion path. The trolley body moves according to the real-time motion path, and the robotic arm component grabs the cable reel according to the acquired real-time object information and the real-time location information of the trolley body.

[0045] See also Figure 2 In some embodiments, the robotic arm component includes a rotating chassis 1, a first elastic driver 7, a large arm 8, a second elastic driver 3, a small arm 4, a servo 5 and a metal clamping rod 6. The rotating chassis 1 is assembled on the trolley body, the first elastic driver 7 is assembled on the rotating chassis 1, the large arm 8 is connected to the first elastic driver 7 and the second elastic driver 3, the small arm 4 is connected to the second elastic driver 3 and the servo 5, and the metal clamping rod 6 is assembled together with the servo 5.

[0046] It can be understood that the rotating chassis 1 can adjust the angle of the first elastic driver 7, the first elastic driver 7 drives the upper arm 8 to move, and the second elastic driver 3 drives the lower arm 4 to move. The first elastic driver 7 and the second elastic driver 3 are both driven by the corresponding DC motor 2. The servo 5 can drive the metal clamping rod 6. The drive of the rotating chassis 1, the first elastic driver 7, the second elastic driver 3 and the servo 5 can be controlled according to real-time object information and real-time position information. The mechanical arm components of this structure are flexible in movement.

[0047] In some embodiments, the robotic arm component also includes a pressure sensor and a PID control unit, both of which are assembled on the metal clamping rod 6. The pressure sensor is used to detect the pressure between the metal clamping rod 6 and the cable reel, and the PID control unit is used to control the metal clamping rod 6 according to the pressure.

[0048] It can be understood that the pressure sensor is used to detect the contact pressure between the metal clamping rod 6 and the cable drum when it moves. The PID control unit controls the movement of the entire trolley body according to the data of the pressure sensor, and can also issue an alarm to remind the construction personnel.

[0049] In some embodiments, the vehicle body includes a chassis 10, a Mecanum wheel 14, an encoder motor 17, and a power module 11. The Mecanum wheel 14, the encoder motor 17, and the power module 11 are all assembled on the chassis 10. The encoder motor 17 is used to drive the movement of the Mecanum wheel 14. The power module 11 supplies power to the encoder motor 17. The robotic arm component, the positioning module 13, the peripheral information acquisition module, the communication processing module, and the path planning module are all assembled on the chassis 10.

[0050] It can be seen that the Mecanum wheel 14 is suitable for flexible steering in narrow spaces, and the encoder motor 17 is used to drive the rotation of the Mecanum wheel 14. The main body of the car can also include an IMU unit for real-time monitoring of the chassis tilt angle. If it exceeds a threshold (such as 15°), it will automatically pause and adjust the center of gravity. It can also include some AI correction algorithm units for correcting the movement of the main body of the car.

[0051] From the above description, it can be known that the cable reel laying construction robot provided by the present invention replaces manual labor to perform operations, can navigate autonomously, operate with multiple degrees of freedom and perform intelligent fixation, and can complete work tasks more conveniently and efficiently, thereby improving work efficiency.

[0052] The foregoing description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be readily conceived by a person skilled in the art within the technical scope disclosed herein are intended to be encompassed within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A cable reel payout construction robot, characterized in that: It includes a trolley body, a mechanical arm component, a positioning module, a peripheral information acquisition module, a communication processing module and a path planning module, and the mechanical arm component, the positioning module, the peripheral information acquisition module, the communication module and the path planning module are assembled on the trolley body, wherein, The vehicle body is used to drive the movement of the robotic arm component, positioning module, peripheral information acquisition module, communication module and path planning module; The positioning module is used to obtain the real-time position information of the vehicle body; The surrounding information acquisition module is used to obtain real-time object information around the vehicle body; The communication processing module is used to obtain the real-time location information and the real-time item information, plan a real-time motion path based on the real-time location information and the real-time item information, and send the real-time motion path and the real-time item information to the trolley body and the robotic arm component respectively; The robotic arm component is used to grasp the workpiece according to the real-time position information and the real-time object information.

2. The cable reel pay-out construction robot according to claim 1, characterized in that: The surrounding information acquisition module includes: An ultrasonic unit, used to obtain location information of objects around the vehicle body; The camera unit obtains the types of objects around the vehicle body and matches the object position information with the object type.

3. The cable reel pay-out construction robot according to claim 1, characterized in that: The communication processing module includes: A Raspberry Pi 4B unit is used to obtain the real-time location information and plan a real-time motion path based on the real-time location information and real-time object information; The Arduino communication unit is used to send the real-time motion path and the real-time object information to the trolley body and the robotic arm component respectively.

4. The cable reel pay-out construction robot according to claim 1, characterized in that: The mechanical arm component includes a rotating chassis, a first elastic driver, a large arm, a second elastic driver, a small arm, a servo and a metal clamping rod. The rotating chassis is assembled on the trolley body, the first elastic driver is assembled on the rotating chassis, the large arm is connected to the first elastic driver and the second elastic driver, the small arm is connected to the second elastic driver and the servo, and the metal clamping rod is assembled together with the servo.

5. The cable reel pay-out construction robot according to claim 4, characterized in that: The robotic arm component also includes a pressure sensor and a PID control unit, both of which are mounted on the metal clamping rod. The pressure sensor is used to detect the pressure between the metal clamping rod and the cable reel, and the PID control unit is used to control the metal clamping rod according to the pressure.

6. The cable reel pay-out construction robot according to claim 5, characterized in that: The main body of the trolley includes a chassis, a Mecanum wheel, an encoder motor and a power module. The Mecanum wheel, the encoder motor and the power module are all assembled on the chassis. The encoder motor is used to drive the movement of the Mecanum wheel. The power module supplies power to the encoder motor. The robotic arm component, the positioning module, the peripheral information acquisition module, the communication processing module and the path planning module are all assembled on the chassis.

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