Wall panel installation robot and visual inspection method

Abstract

The present application relates to a wall panel installation robot and a visual inspection method, and belongs to the field of building construction technology. The present application proposes a wall panel installation robot, comprising: a chassis; an upper mounting mechanism, mounted on the chassis; a visual inspection mechanism, mounted on the upper mounting mechanism, the visual inspection mechanism being able to obtain the posture parameters of the wall panel and send them to the controller; the visual inspection mechanism comprising an origin, and the posture parameters comprising H, L2 and L3. When the wall panel is in a transport state, if H'<H1, the controller determines that the wall panel meets the transport conditions; when the wall panel is in an installation state, if H'<H2, the controller determines that the wall panel meets the installation conditions. The present application also proposes a visual inspection method for a wall panel installation robot. By using the wall panel installation robot, it is possible to prevent the wall panel from hitting the beam during transport and from hitting the ceiling during installation, thereby making the wall panel installation robot have better operating safety.

Description

Technical Field

[0001] The present application relates to the technical field of building construction, and in particular to a wall panel installation robot and a visual inspection method. Background Art

[0002] During the panel handling and installation feeding stages of the PC interior wall panel installation robot, there is currently no real-time detection and feedback of various possible collisions of the wall panels. Instead, judgment is mostly made through the human eye, which poses a serious safety hazard and is inefficient. Summary of the invention

[0003] To this end, the present application proposes a wall panel installation robot and a visual inspection method, which can detect the height of the top of the wall panel from the ground, prevent the wall panel from hitting the beam during transportation, and avoid hitting the ceiling during installation, thereby making the wall panel installation robot have better operating safety.

[0004] Some embodiments of the present application propose a wall panel installation robot, comprising: a chassis; an upper loading mechanism, installed on the chassis, for grabbing, transporting and installing wall panels; a visual detection mechanism, installed on the upper loading mechanism, the visual detection mechanism can obtain the posture parameters of the wall panel grabbed by the upper loading mechanism and send them to a controller; the visual detection mechanism includes an origin, and the posture parameters include a height H of the origin from the ground, a length L2 from the origin to the top surface of the wall panel grabbed by the upper loading mechanism, and a distance L1 from the origin to the top surface of the wall panel grabbed by the upper loading mechanism. The length L3 of the wall panel; the controller is used to determine whether the height H' of the top of the wall panel from the ground is less than a preset height value H0 according to the posture parameter; when the wall panel grasped by the upper loading mechanism is in a transport state, H0=H1, if H'

[0005] Using this type of wall panel installation robot to grab, transport and install wall panels can avoid grabbing an over-long wall panel by mistake and hitting the beam during transportation, as well as hitting the ceiling during installation, thereby making the wall panel installation robot have better operating safety.

[0006] In addition, the wall panel installation robot according to the embodiment of the present application also has the following additional technical features:

[0007] ​According to some embodiments of the present application, the visual inspection mechanism includes: a 3D camera assembly, the 3D camera assembly is provided with the origin; a 3D camera driving mechanism installed on the upper mounting mechanism, the 3D camera assembly is installed on the execution end of the 3D camera driving mechanism, and the 3D camera driving mechanism can drive the 3D camera assembly to move. This form of visual inspection mechanism is simple in structure and easy to assemble.

[0008] According to some embodiments of the present application, the 3D camera driving mechanism includes: a sliding plate, which is vertically slidably matched with the upper mounting mechanism; a vertical driving mechanism, which is installed on the upper mounting mechanism and can drive the sliding plate to move vertically; a horizontal driving mechanism, which is installed on the sliding plate, and the 3D camera assembly is installed on the execution end of the horizontal driving mechanism, and the horizontal driving mechanism can drive the 3D camera assembly to move horizontally. This type of 3D camera driving mechanism can drive the 3D camera assembly to move flexibly in the horizontal and vertical directions, has a simple structure, is easy to assemble, and is reliable to move.

[0009] According to some embodiments of the present application, the lateral drive mechanism includes: a parallel connecting rod assembly, including a plurality of connecting rods arranged in parallel, and the two ends of each connecting rod are respectively hinged to the 3D camera assembly and the sliding plate; a lateral drive member, mounted on the sliding plate, and the lateral drive member can drive the plurality of connecting rods to move synchronously, so as to drive the 3D camera assembly to move horizontally through the parallel connecting rod assembly. This type of lateral drive mechanism has a simple structure and is easy to assemble.

[0010] According to some embodiments of the present application, the vertical driving mechanism includes: a vertical driving member installed on the upper mounting mechanism; a pull plate, the pull plate connects the execution end of the vertical driving member to the sliding plate, and the vertical driving member drives the sliding plate to move vertically through the pull plate. This type of vertical driving mechanism has a simple structure and is easy to assemble.

[0011] According to some embodiments of the present application, the 3D camera driving mechanism also includes: a vertical in-place detection mechanism, which is used to detect that the sliding plate has reached the upper limit position and the lower limit position; and a lateral in-place detection mechanism, which is used to detect that the execution end of the vertical driving mechanism has reached the left limit position and the right limit position.

[0012] According to some embodiments of the present application, under the drive of the lateral driving mechanism, the 3D camera assembly has a left critical detection position and a right critical detection position. When the 3D camera assembly is located at the left critical detection position and the right critical detection position, the origin is located outside the outline of the wall panel grasped by the upper mounting mechanism.

[0013] According to some embodiments of the present application, the 3D camera assembly includes: a 3D camera; a camera bracket installed on the execution end of the 3D camera driving mechanism, and the 3D camera is installed on the camera bracket; a camera cover installed on the camera bracket and covering the back side of the 3D camera.

[0014] According to some embodiments of the present application, the upper loading mechanism includes: a base frame fixed to the chassis; a clamping mechanism for gripping the wall panel, and the visual inspection mechanism is installed on the back side of the clamping mechanism; an upper loading drive mechanism installed on the base frame, and the clamping mechanism is rotatably connected to the base frame, and the upper loading drive mechanism can drive the clamping mechanism to rotate so that the wall panel gripped by the clamping mechanism has a transport state and an installation state; when the wall panel is in the installation state, the wall panel is vertically arranged perpendicular to the ground; when the wall panel is in the transport state, the wall panel is inclined between the ground.

[0015] Some embodiments of the present application also propose a visual inspection method for a wall panel installation robot, which uses the above-mentioned wall panel installation robot. The visual inspection method for the wall panel installation robot includes: grabbing the wall panel; detecting the posture parameters of the grabbed wall panel; when the wall panel is in a transport state, judging whether the grabbed wall panel meets the transport conditions according to the posture parameters, and if the wall panel meets the transport conditions, the upper loading mechanism transports the wall panel normally; when the wall panel is in an installation state, judging whether the grabbed wall panel meets the installation conditions according to the posture parameters, and if the wall panel meets the installation conditions, the upper loading mechanism installs the wall panel normally.

[0016] By providing real-time detection and feedback on various collisions that may occur during the transportation and installation of wall panels, the risk of collision during the grabbing, transportation and installation of wall panels is reduced, and the safety of robot operations is improved.

[0017] According to some embodiments of the present application, the step of "grabbing the wall panel" includes: obtaining the L2 value, calculating L=L1+L2 according to the preset L1 value, and analyzing whether L is equal to L0; when L=L0, the controller determines that the wall panel is correctly grabbed.

[0018] According to some embodiments of the present application, when the wall panel is in a transport state, the height H' from the top of the wall panel to the ground is calculated based on the acquired posture parameters, and it is analyzed whether H' is less than H1. When H'

[0019] According to some embodiments of the present application, when the wall panel is in a transport state, the height H' from the top of the wall panel to the ground is calculated as follows:

[0020]

[0021] h2=Wcosθ; ​

[0022] H′=H+h1+h2;

[0023] Where θ is the angle between the top surface of the wall panel and the vertical surface;

[0024] W is the thickness of the wall panel.

[0025] According to some embodiments of the present application, when the wall panel is in the installation state, the height H' from the top of the wall panel to the ground is calculated based on the acquired posture parameters, and it is analyzed whether H' is less than H2. When H'<H2, the controller determines that the wall panel meets the installation conditions.

[0026] According to some embodiments of the present application, when the wall panel is in an installed state, the height H' from the top of the wall panel to the ground is calculated as: H'=H+L2.

[0027] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 A schematic structural diagram of a wall panel installation robot from one perspective provided in an embodiment of the present application;

[0030] Figure 2 A schematic structural diagram of a wall panel installation robot from another perspective provided in an embodiment of the present application;

[0031] Figure 3 for Figure 2 A partial enlarged view of the middle A;

[0032] Figure 4 A schematic diagram of a wall panel installation robot provided in an embodiment of the present application in a transporting state;

[0033] Figure 5 A schematic diagram of a wall panel installation robot provided in an embodiment of the present application in an installation state;

[0034] Figure 6 A schematic diagram of lateral movement of a 3D camera in a wall panel installation robot provided in an embodiment of the present application;

[0035] Figure 7A schematic diagram of assembling wall panels by a wall panel installation robot provided in an embodiment of the present application.

[0036] Icons: 100-wall panel installation robot; 10-visual inspection mechanism; 20-3D camera assembly; 22-camera bracket; 23-camera shield; 30-3D camera drive mechanism; 31-sliding plate; 32-vertical drive mechanism; 321-vertical drive member; 3211-vertical drive member fixed end; 3212-vertical drive member execution end; 322-pull plate; 33-lateral drive mechanism; 331-parallel connecting rod assembly; 3311-connecting rod; 3312-connecting rod first end; 3313-connecting rod second end; 3314-pin shaft; 332-lateral drive member; 3321-lateral drive member fixed end End; 3322-lateral drive member execution end; 333-vertical guide rail assembly; 34-vertical in-place detection mechanism; 341-upper proximity sensor; 342-lower proximity sensor; 343-vertical marking part; 35-lateral in-place detection mechanism; 351-lateral proximity sensor; 352-lateral marking part; 40-upper installation mechanism; 41-base frame; 42-gripping mechanism; 421-gripping mechanism back plate; 43-upper installation drive mechanism; 50-chassis; 600-wall panel; 610-bottom of wall panel; 620-top of wall panel; 630-back of wall panel; 710-ground; 740-installed wall panel. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0039] Please refer to Figure 1 and Figure 2 The wall panel installation robot 100 of the embodiment of the present application includes a chassis 50, an upper loading mechanism 40 and a visual inspection mechanism 10. The upper loading mechanism 40 is installed on the chassis 50, and is used to grab, carry and install the wall panel 600. The visual inspection mechanism 10 is installed on the upper loading mechanism 40. The visual inspection mechanism 10 can obtain the posture parameters of the wall panel 600 grabbed by the upper loading mechanism 40 and send them to the controller.

[0040] Please refer to Figure 4 and Figure 5 , the visual inspection mechanism 10 includes an origin O(0, 0, 0), and the posture parameters include a height H of the origin from the ground 710, a length L2 from the origin to the top 620 of the wall panel 600 grabbed by the upper mounting mechanism 40, and a length L3 from the origin to the wall panel 600 grabbed by the upper mounting mechanism 40. The controller is used to determine whether the height H' of the top of the wall panel 600 from the ground is less than a preset height value H0 according to the posture parameters. Wherein, H'=H+h1+h2.

[0041] When the wall panel 600 grabbed by the upper loading mechanism 40 is in the transporting state, H0=H1. If H'

[0042] When the wall panel 600 grabbed by the upper installation mechanism 40 is in the installation state, H0=H2. If H′<H2, the controller determines that the wall panel 600 meets the installation conditions, and the upper installation mechanism 40 installs the wall panel 600 normally.

[0043] The length L1 from the origin to the bottom 610 of the wall panel 600 grabbed by the upper mounting mechanism 40 and the width W of the wall panel 600 are both known preset parameters.

[0044] During the process of carrying the wall panel 600, the preset height value H0 is the height H1 of the beam from the ground; during the process of installing the wall panel 600, H0 is the height H2 of the ceiling from the ground.

[0045] Using this type of wall panel installation robot 100 to grab, transport and install wall panels 600 can avoid grabbing an over-long wall panel by mistake and hitting the beam during transportation, as well as hitting the ceiling during installation, thereby ensuring that the wall panel installation robot 100 has better operating safety.

[0046] The structures and interconnected relationships of the various components of the wall panel installation robot 100 according to the embodiment of the present application are described below.

[0047] Please refer to Figure 4 Optionally, the controller is also used to determine whether L is equal to L0, L0 is a preset wall panel length, L = L1 + L2.

[0048] When L=L0, the controller determines that the upper mounting mechanism 40 has grabbed the correct wall panel 600 and the wall panel 600 is in the correct placement position.

[0049] When L≠L0, the controller determines that the loading mechanism 40 grabs the wrong wall panel or the wall panel is in the wrong placement position, and suspends the next step of the transport action to facilitate the staff to check.

[0050] ​Through this form, it is possible to prevent mistakes and prevent the wrong grabbing of other types of wall panels, thereby improving the operating accuracy and safety of the wall panel installation robot 100.

[0051] Please refer to Figure 1 The chassis 50 serves as the walking mechanism of the wall panel installation robot 100 and is a common robot chassis, which will not be further described in this article.

[0052] The upper installation mechanism 40 is installed on the chassis 50 and is used for grabbing, carrying and installing the wall panel 600 .

[0053] Please refer to Figure 1 In some embodiments of the present application, the upper loading mechanism 40 includes a base frame 41, a clamping mechanism 42 and an upper loading driving mechanism 43.

[0054] The base frame 41 is fixed to the chassis 50, the clamp mechanism 42 is installed on the front side of the clamp mechanism back plate 421, the clamp mechanism back plate 421 is rotatably connected to the base frame 41, and is used to grab the wall panel 600, and the visual inspection mechanism 10 is installed on the back side of the clamp mechanism back plate 421. The clamp mechanism 42 grabs the wall panel 600 through the bottom claw and two side claws, and the upper part of the wall panel 600 is exposed to the clamp mechanism.

[0055] Specifically, the bottom 610 of the wall panel is supported by the bottom claw, the back 630 of the wall panel rests on the back plate 421 of the clamping mechanism, and the top 620 of the wall panel exceeds the back plate 421 of the clamping mechanism and can be detected by the 3D camera assembly 20.

[0056] The upper installation driving mechanism 43 is installed on the bottom frame 41, and the upper installation driving mechanism 43 can drive the clamping mechanism 42 to rotate, so that the wall panel 600 grasped by the clamping mechanism 42 has a transporting state and an installation state.

[0057] For example, the upper mounting driving mechanism 43 may be a hydraulic push rod.

[0058] Please refer to Figure 1 , when the wall panel 600 is in the installation state, the wall panel 600 is vertically arranged perpendicular to the ground 710;

[0059] Please refer to Figure 2 When the wall panel 600 is in the transport state, the wall panel 600 is tilted relative to the ground 710 , and the wall panel 600 leans back on the back plate of the clamping mechanism 42 .

[0060] In other embodiments, the upper installation mechanism 40 may also be of other structural forms to achieve the grabbing, transporting and installation operations of the wall panel 600.

[0061] The visual inspection mechanism 10 can obtain the posture parameters of the wall panel 600 grasped by the upper installation mechanism 40 and send them to the controller so that the controller can determine whether the wall panel 600 meets the preset conditions after calculation and analysis.

[0062] Please refer to Figure 2 and Figure 3 The visual inspection mechanism 10 includes a 3D camera assembly 20 and a 3D camera driving mechanism 30 .

[0063] The 3D camera assembly 20 is provided with an origin O(0,0,0), the 3D camera driving mechanism 30 is installed on the clamping mechanism back plate 421 of the upper mounting mechanism 40, the 3D camera assembly 20 is installed on the execution end of the 3D camera driving mechanism 30, and the 3D camera driving mechanism 30 can drive the 3D camera assembly 20 to move.

[0064] Please refer to Figure 3 , a specific structural form of a 3D camera assembly 20 is exemplified below.

[0065] The 3D camera assembly 20 includes a 3D camera, a camera bracket 22 and a camera cover 23. The camera bracket 22 is mounted on the execution end of the 3D camera driving mechanism 30, the 3D camera is mounted on the camera bracket 22, and the camera cover 23 is mounted on the camera bracket 22 and covers the back side of the 3D camera.

[0066] In some embodiments of the present application, the origin is defined as the coordinate origin of the 3D camera for ease of calculation.

[0067] In other embodiments, the origin may also be other position coordinates of the 3D camera to form a new detection algorithm, and H' and L may also be obtained by calculation.

[0068] The camera shield 23 can expose the front side of the 3D camera and will not hinder the detection operation of the 3D camera. By shielding the back side of the 3D camera, it is convenient to protect the 3D camera and improve the reliability of the visual detection mechanism 10.

[0069] This type of 3D camera assembly 20 has a simple structure, low cost, and is easy to assemble.

[0070] In other embodiments, other three-dimensional scanning devices may be used instead of the 3D camera.

[0071] Please refer to Figure 3 , the specific structural form of a 3D camera driving mechanism 30 is exemplified below.

[0072] The 3D camera driving mechanism 30 includes a slide plate 31 , a vertical driving mechanism 32 , and a horizontal driving mechanism 33 .

[0073] The sliding plate 31 is slidably matched with the upper mounting mechanism 40 in the vertical direction (ie, the first direction).

[0074] Specifically, both sides of the sliding plate 31 are respectively slidably matched with the clamping mechanism back plate 421 through a set of vertical guide rail components 333, and have an upper limit position and a lower limit position.

[0075] For example, the vertical guide rail assembly 333 includes a slide rail and a slider. The slide rail is installed on the clamp mechanism back plate 421, and the slider is slidably installed on the slide rail. The slider is fixed to the sliding plate 31 by a screw to achieve sliding cooperation between the sliding plate 31 and the clamp mechanism back plate 421.

[0076] The vertical driving mechanism 32 is mounted on the clamping mechanism back plate 421 of the upper mounting mechanism 40 and can drive the sliding plate 31 to move vertically.

[0077] In some embodiments of the present application, the vertical driving mechanism 32 includes a vertical driving member 321 and a pull plate 322. The vertical driving member 321 includes a vertical driving member fixed end 3211 and a vertical driving member execution end 3212, the vertical driving member fixed end 3211 is installed on the clamp mechanism back plate 421 of the upper mounting mechanism 40, and the pull plate 322 connects the vertical driving member execution end 3212 with the sliding plate 31, and the vertical driving member 31 drives the sliding plate 31 to move along the first direction through the pull plate 322.

[0078] Specifically, the vertical driving member 321 is an electric push rod.

[0079] In other embodiments, the vertical driving member 321 may also be a cylinder, an electric cylinder, a hydraulic cylinder, or a rack and pinion mechanism with a travel direction in the first direction.

[0080] The transverse driving mechanism 33 is installed on the sliding plate 31 , and the 3D camera assembly 20 is installed on the execution end of the transverse driving mechanism 33 . The transverse driving mechanism 33 can drive the 3D camera assembly 20 to move transversely (ie, in the second direction).

[0081] In some embodiments of the present application, the transverse driving mechanism 33 includes a parallel connecting rod assembly 331 and a transverse driving member 332. The parallel connecting rod assembly 331 includes a plurality of connecting rods 3311 arranged in parallel, and the two ends of each connecting rod 3311 are respectively hinged to the 3D camera assembly 20 and the sliding plate 31. The transverse driving member 332 is installed on the sliding plate 31, and the transverse driving member 332 can drive the plurality of connecting rods 3311 to move synchronously, so as to drive the 3D camera assembly 20 to move along the second direction through the parallel connecting rod assembly 331.

[0082] Specifically, the transverse driving member 332 is an electric push rod and includes a transverse driving member fixed end 3321 and a transverse driving member execution end 3322 , and the transverse driving member fixed end 3321 is fixed to the sliding plate 31 .

[0083] In other embodiments, the transverse driving member 332 may also be a cylinder, an electric cylinder, a hydraulic cylinder, or a rack and pinion mechanism with a travel direction in the first direction.

[0084] In some embodiments of the present application, there are two connecting rods 3311, which are arranged in parallel, and each connecting rod 3311 includes a connecting rod first end 3312 and a connecting rod second end 3313, the connecting rod first end 3312 is hinged to the sliding plate 31, and the connecting rod second end 3313 is hinged to the camera bracket 22. The two connecting rods 3311, the sliding plate 31 and the camera bracket 22 are jointly configured to form a parallelogram connecting rod mechanism.

[0085] A pin connection portion is provided on the connecting rod 3311 between the first end 3312 and the second end 3313 of the connecting rod, and the actuating end 3322 of the transverse driving member is hingedly connected to the pin connection portion via a pin shaft 3314 .

[0086] Driven by the transverse driving member 332, the transverse driving member execution end 3322 moves along the second direction and has a left limit position and a right limit position. The transverse driving member execution end 3322 can push the two connecting rods 3311 to rotate, thereby driving the camera bracket 22 to move left and right.

[0087] In some embodiments of the present application, each connecting rod 3311 is hinged to the actuating end 3322 of the transverse driving member to stably drive the 3D camera assembly 20 to move transversely.

[0088] In other embodiments, one of the connecting rods 3311 is hinged to the transverse driving member execution end 3322 to facilitate assembly.

[0089] When the sliding plate 31 is located at the upper limit position and the lower limit position, the 3D camera assembly 20 is located at the upper critical detection position and the lower critical detection position correspondingly;

[0090] When the transverse driving member execution end 3322 is located at the left limit position and the right limit position, the 3D camera assembly 20 is located at the left critical detection position and the lower critical detection position correspondingly.

[0091] Furthermore, when the 3D camera assembly 20 is located at the left critical detection position and the right critical detection position, the origin is located outside the outline of the wall panel 600 grasped by the upper mounting mechanism 40.

[0092] Please refer to Figure 6 Specifically, when the 3D camera assembly 20 is located at the left critical detection position and the right critical detection position, the spacing B between the origins is less than the lateral width K of the wallboard 600. When the 3D camera assembly 20 is located at the left critical detection position, its origin is located outside the wallboard 600; when the 3D camera assembly 20 is located at the right critical detection position, its origin is also located outside the wallboard 600.

[0093] This form can facilitate the movement of the 3D camera along the second direction so that the origin is outside the outline of the wallboard 600. When the 3D camera assembly 20 is used to shoot the joint distance between the wallboards, the field of view will not be blocked by the captured wallboard 600, thereby realizing the edge installation in place detection function.

[0094] Please refer to Figure 3 Optionally, in order to accurately determine whether the 3D camera has moved to the correct position, the 3D camera driving mechanism 30 further includes a vertical position detection mechanism 34 and a horizontal position detection mechanism 35.

[0095] The vertical in-place detection mechanism 34 is used to detect whether the sliding plate 31 has reached the upper limit position and the lower limit position, and the lateral in-place detection mechanism 35 is used to detect whether the vertical driving member execution end 3212 has reached the left limit position and the right limit position.

[0096] The vertical in-place detection mechanism 34 includes an upper proximity sensor 341, a lower proximity sensor 342 and a vertical marking portion 343. The upper proximity sensor 341 and the lower proximity sensor 342 are respectively mounted on the clamp mechanism back plate 421 and correspond to the upper limit position and the lower limit position of the sliding plate 31 respectively.

[0097] The vertical marking portion 343 is a sensing sheet or a structure with a sensing function installed on the sliding plate 31 , and is used for detection by the upper proximity sensor 341 and the lower proximity sensor 342 to determine whether the sliding plate 31 is lifted or lowered into place.

[0098] The lateral in-position detection mechanism 35 includes a lateral proximity sensor 351 and a lateral marking portion 352. The lateral proximity sensor 351 is fixed to the back plate 421 of the clamping mechanism, and the lateral marking portion 352 is located at the lateral driving member execution end 3322, which is used for detection by the lateral proximity sensor 351, so that the controller can determine whether the lateral driving member execution end 3322 has moved laterally into position.

[0099] In some embodiments of the present application, there is one lateral proximity sensor 351, and there are two lateral marking parts 352, and the two lateral marking parts 352 respectively correspond to the left limit position and the right limit position of the lateral driving member execution end 3322. For example, when the lateral driving member execution end 3322 reaches the left limit position, the lateral proximity sensor 351 detects the lateral marking part 352 on the left side, so that the controller determines that the lateral driving member execution end 3322 has reached the left limit position; when the lateral driving member execution end 3322 reaches the right limit position, the lateral proximity sensor 351 detects the lateral marking part 352 on the right side, so that the controller determines that the lateral driving member execution end 3322 has reached the right limit position.

[0100] In this manner, only one lateral proximity sensor 351 is arranged, which can occupy less installation space.

[0101] In other embodiments, a transverse marking portion 352 and two transverse proximity sensors 351 may also be provided to detect the transverse movement of the transverse driving member execution end 3322 into position in a similar manner to the vertical position detection mechanism 34 .

[0102] Please refer to Figure 4 and Figure 5 The embodiment of the present application also proposes a visual inspection method for a wall panel installation robot, comprising:

[0103] Grab the wall panels;

[0104] The wall panel is in the transport state. The posture parameters are used to determine whether the grabbed wall panel meets the transport conditions. If the wall panel meets the transport conditions, the upper loading mechanism transports the wall panel normally.

[0105] The wall panel is in an installation state, and whether the grabbed wall panel meets the installation conditions is determined according to the posture parameters. If the wall panel meets the installation conditions, the upper installation mechanism installs the wall panel normally.

[0106] The visual detection method using the wall panel installation robot can detect the length of the wall panel and the height of its top from the ground 710 in various states, which can improve the operational safety of the wall panel installation robot in the grasping, handling and installation links.

[0107] In some embodiments of the present application, the wall panel installation robot 100 in the embodiments of the present application is used to implement the visual inspection method.

[0108] In other embodiments, the visual inspection method is not limited to the wall panel installation robot 100 .

[0109] The specific steps of the visual inspection method of the wall panel installation robot are described below with reference to the wall panel installation robot 100 in the embodiment.

[0110] The visual inspection method of the wall panel installation robot specifically includes:

[0111] S1: Check whether the grabbed wall panel 600 is correct.

[0112] Please refer to Figure 4 , after the wall panel installation robot 100 grabs the wall panel 600 through the gripper mechanism 42 and adjusts the wall panel 600 to a carrying state, the bottom of the wall panel 600 is held by the bottom claw, the back of the wall panel 600 rests on the gripper mechanism 42, and the back of the wall panel 600 is parallel to the YZ plane of the coordinate system of the 3D camera;

[0113] The 3D camera detects the bottom coordinates A (a1, a2, a3) and the top coordinates B (b1, b2, b3) of the wall panel 600;

[0114] The controller receives the bottom coordinates A (a1, a2, a3) and the top coordinates B (b1, b2, b3), and calculates the values ​​of L2, L3, and H;

[0115] Combined with the preset known value L1, calculate L=L1+L2, and compare L with L0;

[0116] If L=L0, it is determined that the clamping mechanism 42 correctly grasps the wall panel 600, that is, the wall panel 600 of the correct model is grasped and the placement position of the wall panel 600 is correct;

[0117] If L≠L0, it is determined that the clamping mechanism 42 grabs the wrong wall panel or the wall panel is in the wrong position, and a grab error signal is sent, and the next handling action is suspended, and the interactive device responds to remind the staff to check.

[0118] S2: Detect whether the grabbed wall panel 600 will hit the beam during the transportation process.

[0119] Please refer to Figure 4 When the wall panel 600 is in the transport state, the controller calculates the height H' from the top of the wall panel 600 to the ground, and compares H' with H0, where H1 is the preset height value of the beam from the ground, and H0 = H1;

[0120] If H'

[0121] If H'≥H1, the controller determines that the wall panel 600 may hit the beam during transportation, sends a beam collision warning signal, and suspends the next transportation action. The interactive device responds to remind the staff to check, or adjusts the transportation status to make H'

[0122] Furthermore, when the wall panel 600 is in the transport state, the height H' from the top of the wall panel to the ground is calculated as follows:

[0123]

[0124] h2=Wcosθ;

[0125] H′=H+h1+h2;

[0126] Where θ is the angle between the top surface of the wall panel and the vertical surface;

[0127] W is the thickness of the wall panel.

[0128] S3: Move to the prepared installation location.

[0129] Please refer to Figure 4 ​​When L=L0 and H'

[0130] S4: Detect whether the grabbed wall panel 600 will hit the ceiling during the installation process.

[0131] Please refer to Figure 5 , at the pre-installation position, adjust the wall panel 600 to the installation state, calculate the height H' from the top of the wall panel to the ground according to the acquired posture parameters, and analyze whether H' is less than H0, where H2 is the preset height value of the ceiling from the ground 710, H0 = H2;

[0132] If H'<H2, the controller determines that the wall panel 600 can be installed smoothly, that is, the wall panel 600 meets the installation conditions;

[0133] If H'≥H2, the controller determines that the wall panel 600 may hit the ceiling during the installation process, sends a ceiling impact warning signal, and pauses the next installation action. The interactive device responds to remind the staff to check.

[0134] Furthermore, when the wall panel 600 is in the installed state, the height H' from the top of the wall panel to the ground is calculated as: H'=H+L2.

[0135] Please refer to Figure 7 , S5: Install wall panel 600 and inspect joints.

[0136] When the controller determines that the wall panel 600 can be successfully installed, it sends an installation signal;

[0137] The 3D camera driving mechanism 30 responds, and under the action of the horizontal driving mechanism 33 and the vertical driving mechanism 32, the 3D camera moves to one side of the installed wall panel 740 to detect and obtain the joint spacing;

[0138] Specifically, the distance M between the installed wall panel 740 and the captured wall panel 600 is detected by the 3D camera to assist the upper mounting mechanism 40 to correctly assemble the wall panel 600 on one side of the installed wall panel 740;

[0139] The chassis 50 responds by further moving to the wall panel installation position, and the upper installation mechanism 40 installs the wall panel 600 at a preset installation position on the wall, completing the assembly operation of one wall panel 600.

[0140] ​When using the wall panel installation robot 100 to install the wall panel 600, the visual detection method is used to assist the operation, so that the wall panel 600 is correctly grasped when it is grasped, the wall panel is ensured not to hit the beam during the transportation process, and the wall panel is ensured not to hit the ceiling during the installation process before reaching the wall panel installation position. The joint position is detected during the wall panel installation process to ensure the quality and accuracy of the wall panel assembly. By performing real-time detection and feedback on various collisions that may occur during the transportation and installation of the wall panel 600, the collision risk of the wall panel 600 during the grasping, transportation, and installation process is reduced, and the safety of the robot operation is improved.

[0141] In other embodiments, the wall panel installation robot 100 and the visual inspection method in the embodiment of the present application can also be applied to other similar occasions of grasping, transporting, and installing workpieces, and are not limited to wall panel installation operations.

[0142] It should be noted that, in the absence of conflict, the features in the embodiments of this application may be combined with each other.

[0143] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A wall panel installation robot, characterized in that: include: Chassis; An upper installation mechanism, mounted on the chassis, for grabbing, carrying and installing the wall panels; A visual detection mechanism, installed on the upper loading mechanism, the visual detection mechanism can obtain the posture parameters of the wall panel grasped by the upper loading mechanism and send them to the controller; The visual detection mechanism includes an origin, and the posture parameters include a height H of the origin from the ground, a length L2 from the origin to the top surface of the wall panel grasped by the upper mounting mechanism, and a length L3 from the origin to the wall panel grasped by the upper mounting mechanism; The controller is used to determine whether the height H' of the top of the wall panel from the ground is less than a preset height value H0 according to the posture parameter; When the wall panel grabbed by the upper loading mechanism is in a transporting state, H0=H1, if H'<H1, the controller determines that the wall panel meets the transporting conditions, and the upper loading mechanism transports the wall panel normally; When the wall panel is in the transport state, the height H' from the top of the wall panel to the ground is calculated as follows: Where, Θ is the angle between the top surface of the wall panel and the vertical surface; When the wall panel grabbed by the upper installation mechanism is in the installation state, H0=H2, if H'<H2, the controller determines that the wall panel meets the installation conditions, and the upper installation mechanism installs the wall panel normally; When the wall panel is in the installed state, the height H' from the top of the wall panel to the ground is calculated as follows: 。 2. The wall panel installation robot according to claim 1, characterized in that: The visual inspection mechanism comprises: A 3D camera assembly, wherein the 3D camera assembly is provided with the origin; The 3D camera driving mechanism is installed on the upper mounting mechanism, and the 3D camera assembly is installed on the execution end of the 3D camera driving mechanism. The 3D camera driving mechanism can drive the 3D camera assembly to move.

3. The wall panel installation robot according to claim 2, characterized in that: The 3D camera driving mechanism comprises: A sliding plate, vertically slidingly matched with the upper mounting mechanism; A vertical driving mechanism, mounted on the upper mounting mechanism, capable of driving the sliding plate to move vertically; The transverse driving mechanism is installed on the sliding plate, and the 3D camera assembly is installed on the execution end of the transverse driving mechanism. The transverse driving mechanism can drive the 3D camera assembly to move transversely.

4. The wall panel installation robot according to claim 3, characterized in that: The lateral driving mechanism comprises: A parallel connecting rod assembly, comprising a plurality of connecting rods arranged in parallel, wherein two ends of each connecting rod are respectively hinged to the 3D camera assembly and the sliding plate; A transverse driving member is installed on the sliding plate, and the transverse driving member can drive the multiple connecting rods to move synchronously, so as to drive the 3D camera assembly to move horizontally through the parallel connecting rod assembly.

5. The wall panel installation robot according to claim 3, characterized in that: The vertical drive mechanism includes: A vertical driving member, mounted on the upper mounting mechanism; A pulling plate connects the execution end of the vertical driving member to the sliding plate, and the vertical driving member drives the sliding plate to move vertically through the pulling plate.

6. The wall panel installation robot according to claim 3, characterized in that: The 3D camera driving mechanism also includes: A vertical position detection mechanism, the vertical position detection mechanism is used to detect that the sliding plate reaches the upper limit position and the lower limit position; A lateral in-place detection mechanism is used to detect whether the execution end of the vertical drive mechanism reaches the left limit position and the right limit position.

7. The wall panel installation robot according to claim 3, characterized in that: Driven by the lateral driving mechanism, the 3D camera assembly has a left critical detection position and a right critical detection position. When the 3D camera assembly is located at the left critical detection position and the right critical detection position, the origin is located outside the outline of the wall panel grasped by the upper mounting mechanism.

8. The wall panel installation robot according to claim 2, characterized in that: The 3D camera assembly includes: 3D camera; A camera bracket, mounted on the execution end of the 3D camera driving mechanism, and the 3D camera is mounted on the camera bracket; The camera shield is installed on the camera bracket and covers the back side of the 3D camera.

9. The wall panel installation robot according to claim 1, characterized in that: The upper loading mechanism comprises: A chassis, fixed to the chassis; A clamping mechanism, used for grabbing the wallboard, wherein the visual detection mechanism is installed on the back side of the clamping mechanism; An upper installation driving mechanism is installed on the base frame, the clamping mechanism is rotatably connected to the base frame, and the upper installation driving mechanism can drive the clamping mechanism to rotate so that the wall panel grasped by the clamping mechanism has a carrying state and an installation state; When the wall panel is in the installation state, the wall panel is vertically arranged perpendicular to the ground; When the wall panel is in the transport state, the wall panel is inclined relative to the ground.

10. A visual inspection method for a wall panel installation robot, characterized in that: The visual inspection method of the wall panel installation robot uses the wall panel installation robot according to any one of claims 1 to 9, and the visual inspection method of the wall panel installation robot includes: Grab the wall panels; Detecting the posture parameters of the grabbed wall panel; The wall panel is in a transport state, and whether the grabbed wall panel meets the transport conditions is determined according to the posture parameters. If the wall panel meets the transport conditions, the upper loading mechanism transports the wall panel normally; The wall panel is in an installation state, and whether the grabbed wall panel meets the installation conditions is determined according to the posture parameters. If the wall panel meets the installation conditions, the upper installation mechanism installs the wall panel normally.

11. The visual inspection method of a wall panel installation robot according to claim 10, characterized in that: The steps of "grabbing the wall panel" include: Get the L2 value, calculate L=L1+L2 according to the preset L1 value, and analyze whether L is equal to L0; When L=L0, the controller determines that the wall panel is correctly grasped.

12. According to the visual inspection method of the wall panel installation robot according to claim 10, when the wall panel is in a transport state, the height H' from the top of the wall panel to the ground is calculated based on the acquired posture parameters, and it is analyzed whether H' is less than H1. When H'<H1, the controller determines that the wall panel meets the transport conditions.

13. According to the visual inspection method of the wall panel installation robot according to claim 10, when the wall panel is in the installation state, the height H' from the top of the wall panel to the ground is calculated according to the acquired posture parameters, and it is analyzed whether H' is less than H2. When H'<H2, the controller determines that the wall panel meets the installation conditions.

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