A fully automatic punching equipment control system

Abstract

The application discloses the technical field of intelligent control of punching equipment, and particularly relates to a full-automatic punching equipment control system, which comprises a visual module, an induction module and a control module. The visual module is used for acquiring visual image information of the surroundings of a trolley and a punching part and a hole of a construction module, and extracting features of the acquired images, and the features are uploaded to the control module. The induction module is used for acquiring information about the shape and distance of obstacles around the trolley, and acquiring information about collision of a mechanical arm of the construction module and overload of the punching part of the construction module when the construction module is working, and the information is uploaded to the control module. The full-automatic punching equipment control system can sense abnormal conditions occurring in the punching process, automatically stops working and performs self-checking when the abnormal conditions occur, improves work efficiency, and reduces personnel burden.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology for drilling equipment, specifically a fully automatic drilling equipment control system. Background Technology

[0002] Building construction refers to the production activities during the implementation phase of an engineering project. It is the process of building various types of structures, or the process of turning the lines on design drawings into a physical object at a designated location. It includes foundation construction, main structure construction, roofing construction, and decoration construction. Many construction processes require drilling into the structure, thus necessitating the use of drilling equipment.

[0003] However, existing fully automatic drilling equipment control systems often can only stop the equipment when an abnormality occurs, requiring staff to inspect the equipment, which affects work efficiency and increases the requirements for personnel. Summary of the Invention

[0004] The main objective of this invention is to propose a fully automatic drilling equipment control system, which aims to solve the technical problem that existing fully automatic drilling equipment control systems can only stop the equipment when an abnormality occurs, requiring workers to inspect the equipment, thus affecting work efficiency and increasing the requirements for personnel.

[0005] To address the aforementioned technical problems, according to one aspect of the present invention, the present invention provides the following technical solution: A fully automatic drilling equipment control system, comprising: The vision module is used to acquire visual image information of the trolley's surroundings and the drilling and hole areas of the construction module, extract the features of the acquired images, and upload the feature information to the control module. The sensing module is used to acquire information on the shape and distance of obstacles around the vehicle, and to acquire information on the collision of the robotic arm of the construction module and the overload information of the drilling part of the construction module during construction, and upload the information to the control module. The control module is used to acquire information uploaded by the vision module and the sensing module, control the operation of the construction module and the warning module, and acquire visual image information of the drilling part and the hole through the vision module when the sensing module uploads abnormal overload information. The construction module is used to move around the construction site and complete the drilling work according to the control. The warning module is used to issue warning messages to remind nearby staff to avoid the equipment.

[0006] As a preferred embodiment of the fully automatic drilling equipment control system of the present invention, the vision module includes an image acquisition unit and an image feature extraction unit, wherein the image acquisition unit consists of cameras installed around the trolley and at the construction module.

[0007] As a preferred embodiment of the fully automatic drilling equipment control system of the present invention, the image acquisition unit is used to acquire image information of the trolley's perimeter, the drilling section of the construction module, and the hole, and send the information to the image feature extraction unit. The image feature extraction unit is used to receive image information sent by the image acquisition unit, extract obstacle feature information, perforation feature information and hole feature information in the image, and send the feature information to the control module.

[0008] As a preferred embodiment of the fully automatic drilling equipment control system of the present invention, the sensing module includes an obstacle recognition unit, a distance recognition unit, an external force collision robotic arm recognition unit, and an overload recognition unit. The obstacle recognition unit consists of radar sensors installed around the trolley and on the construction module. The distance recognition unit consists of distance sensors installed around the trolley and on the construction module. The external force collision robotic arm recognition unit consists of collision sensors installed on the construction module. The overload recognition unit consists of overload sensors installed on the construction module.

[0009] As a preferred embodiment of the fully automatic drilling equipment control system of the present invention, the obstacle recognition unit is used to sense obstacle information around the trolley and construction module and send the information to the control module; The distance recognition unit is used to sense the distance information between the trolley and construction module and surrounding objects, and send the information to the control module; The external force collision identification unit is used to sense the collision information received by the robotic arm and send the information to the control module. The overload identification unit is used to sense the overload information of the construction module and send the information to the control module.

[0010] As a preferred embodiment of the fully automatic drilling equipment control system of the present invention, the control module includes a remote operation unit, an automatic control unit, and a wireless transceiver unit. The remote operation unit is composed of a touch screen remote control, the automatic control unit is composed of a computer, and the wireless transceiver unit is composed of a signal transceiver.

[0011] As a preferred embodiment of the fully automatic drilling equipment control system of the present invention, the remote operation unit is used to display relevant information collected by the vision module and the sensing module, and to send control information to the wireless transceiver unit under the operation of the operator. The automatic control unit is used to receive information from the wireless transceiver unit and automatically switch to automatic mode when entering the drilling stage, and operate the construction equipment to complete the drilling work according to the preset drilling information. The wireless transceiver unit is used to transmit information between the various modules.

[0012] As a preferred embodiment of the fully automatic drilling equipment control system of the present invention, the construction module includes a vehicle body unit, a robotic arm unit, a drilling unit, and an emergency stop unit. The vehicle body unit serves as the vehicle body, driving the robotic arm drive unit and the drilling unit above it to move. The robotic arm unit is used as a robotic arm to adjust the position of the punching unit; The drilling unit is used to perform drilling operations; The emergency stop unit is used to stop the operation of the vehicle body unit, the robotic arm unit, and the drilling unit after receiving a stop message sent by the control module.

[0013] As a preferred embodiment of the fully automatic drilling equipment control system of the present invention, the warning module includes an auditory warning unit and a visual warning unit, wherein the auditory warning unit consists of a buzzer and a speaker, and the visual warning unit consists of a warning light.

[0014] As a preferred embodiment of the fully automatic drilling equipment control system of the present invention, wherein: the auditory warning unit is used to provide an auditory warning function to remind surrounding personnel to avoid the equipment; The visual warning unit is used to provide a visual warning function to remind people in the vicinity to avoid the device.

[0015] The beneficial effects of this invention are as follows: It can acquire information about the surroundings of the device through a combination of vision and sensors, and then complete the fully automatic drilling work through automatic control equipment; When vision or sensor devices malfunction or cannot be used due to special circumstances, drilling work can also be completed manually with the assistance of a separate vision or sensor device. When an abnormality occurs during drilling, the system should promptly sense and inspect the drilling area and the hole, and quickly complete a temporary self-inspection while removing surrounding personnel. This fully automatic drilling equipment control system can sense abnormalities that occur during the drilling process, automatically stop working and perform self-checks when abnormalities occur, thereby improving work efficiency and reducing personnel burden. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the present invention; Figure 2 This is a schematic diagram of the vision module of the present invention; Figure 3 This is a schematic diagram of the sensing module of the present invention; Figure 4 This is a schematic diagram of the control module of the present invention; Figure 5 This is a schematic diagram of the construction module of the present invention; Figure 6 This is a schematic diagram of the warning module of the present invention.

[0018] Explanation of icon numbers: 100 Visual module 110 Image acquisition unit 120 Image feature extraction unit 200 Sensing module 210 Obstacle recognition unit 220 Distance recognition unit 230 External force collision robotic arm recognition unit 240 Overload identification unit 300 Control module 310 Remote operating unit 320 Wireless transceiver unit 330 Automatic control unit 400 Construction module 410 Car body unit 420 robotic arm unit 430 Drilling unit 440 Emergency Stop Unit 500 Warning module 510 Auditory warning unit 520 Visual warning unit The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0021] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0022] This invention provides a fully automatic drilling equipment control system that can sense abnormalities that occur during the drilling process, automatically stop working and perform self-checks when an abnormality occurs, thereby improving work efficiency and reducing personnel burden. Please see Figures 1-6 , The vision module 100 is used to acquire visual image information of the trolley's perimeter and the drilling and hole locations of the construction module 400, extract features from the acquired images, and upload the feature information to the control module 300. The sensing module 200 is used to acquire the shape and distance information of obstacles around the vehicle, and to acquire the collision information of the robotic arm of the construction module 400 and the overload information of the drilling part of the construction module 400 during construction, and upload the information to the control module 300. The control module 300 is used to acquire information uploaded by the vision module 100 and the sensing module 200, control the operation of the construction module 400 and the warning module 500, and acquire visual image information of the drilling part and the hole through the vision module 100 when the sensing module 200 uploads abnormal overload information. Construction module 400 is used to move around the construction site and complete drilling work according to the control. The warning module 500 is used to issue warning messages to remind nearby staff to avoid the equipment.

[0023] Please refer to it again. Figures 1-6 The vision module 100 includes an image acquisition unit 110 and an image feature extraction unit 120. The image acquisition unit 110 consists of cameras installed around the trolley and at the construction module 400.

[0024] Please refer to it again. Figures 1-6 The image acquisition unit 110 is used to acquire image information of the trolley's perimeter, the drilling section of the construction module 400, and the holes, and send the information to the image feature extraction unit 120. The image feature extraction unit 120 is used to receive image information sent by the image acquisition unit 110, extract obstacle feature information, perforation feature information and hole feature information in the image, and send the feature information to the control module 300.

[0025] Please refer to it again. Figures 1-6 The sensing module 200 includes an obstacle recognition unit 210, a distance recognition unit 220, an external force collision robotic arm recognition unit 230, and an overload recognition unit 240. The obstacle recognition unit 210 consists of radar sensors installed around the trolley and on the construction module 400. The distance recognition unit 220 consists of distance sensors installed around the trolley and on the construction module 400. The external force collision robotic arm recognition unit 230 consists of collision sensors installed on the construction module 400. The overload recognition unit 240 consists of overload sensors installed on the construction module 400.

[0026] Please refer to it again. Figures 1-6 The obstacle recognition unit 210 is used to sense obstacle information around the trolley and construction module 400 and send the information to the control module 300. The distance recognition unit 220 is used to sense the distance information between the trolley and construction module 400 and surrounding objects, and send the information to the control module 300; The external force collision robot arm recognition unit 230 is used to sense the collision information received by the robot arm and send the information to the control module 300; The overload identification unit 240 is used to sense the overload information of the construction module 400 and send the information to the control module 300.

[0027] Please refer to it again. Figures 1-6 The control module 300 includes a remote operation unit 310, an automatic control unit 330, and a wireless transceiver unit 320. The remote operation unit 310 is composed of a touch screen remote control, the automatic control unit 330 is composed of a computer, and the wireless transceiver unit 320 is composed of a signal transceiver.

[0028] Please refer to it again. Figures 1-6 The remote operation unit 310 is used to display relevant information collected by the vision module 100 and the sensing module 200, and to send control information to the wireless transceiver unit 320 under the operation of the operator. The automatic control unit 330 is used to receive information from the wireless transceiver unit 320. When entering the drilling stage, it automatically switches to automatic mode and operates the construction equipment to complete the drilling work according to the preset drilling information. The wireless transceiver unit 320 is used to transmit information between the various modules.

[0029] Please refer to it again. Figures 1-6The construction module 400 includes a vehicle body unit 410, a robotic arm unit 420, a drilling unit 430, and an emergency stop unit 440. The vehicle body unit 410 serves as the vehicle body, driving the robotic arm drive unit and the drilling unit 430 above to move. Robotic arm unit 420 is used as a robotic arm to adjust the position of punching unit 430; Drilling unit 430 is used for drilling operations; The emergency stop unit 440 is used to stop the operation of the vehicle body unit 410, the robotic arm unit 420 and the drilling unit 430 after receiving a stop message sent by the control module 300.

[0030] Please refer to it again. Figures 1-6 The warning module 500 includes an auditory warning unit 510 and a visual warning unit 520. The auditory warning unit 510 consists of a buzzer and a speaker, and the visual warning unit 520 consists of a warning light.

[0031] Please refer to it again. Figures 1-6 The auditory warning unit 510 is used to provide an auditory warning function to remind people around to avoid the device.

[0032] The visual warning unit 520 is used to provide a visual warning function to alert people in the vicinity to avoid the device. Example

[0033] When the construction module 400 completes the drilling work, the sensing module 200 senses the collision and overload information of the construction module 400. After the control module 300 receives the abnormal information, the control module 300 switches from the automatic control unit 330 to the remote operation unit 310, and the warning module 500 is activated to drive away the surrounding personnel. The staff operates the construction module 400 to exit the drilling section through the remote operation unit 310, and collects the image information of the hole and the drilling section of the construction module 400 through the vision module 100, and sends the feature information of the image to the control module 300. The automatic control unit 330 first detects the relevant data by itself. When the automatic control unit 330 cannot obtain the detection results, the staff observes the image data through the remote operation unit 310, thereby realizing the temporary self-check of the equipment. Example

[0034] The vision module 100 acquires image information around the vehicle and sends the image feature information to the control module 300. The operator observes the uploaded information through the control module 300 and controls the movement of the construction module 400. When the construction module 400 moves to the appropriate position, based on the relevant information around the robotic arm unit 420 uploaded by the vision module 100, the control module 300 controls the operation of the robotic arm unit 420. After the robotic arm unit 420 moves the drilling equipment to the drilling location, the control module 300 switches from the remote operation unit 310 to the automatic control unit 330. The automatic control unit 330 controls the drilling equipment to complete the drilling work, thereby realizing the drilling work based on the vision module 100. Example

[0035] The sensing module 200 acquires the shape and distance information of obstacles around the vehicle and sends the information to the control module 300. The control module 300 switches from the remote operation unit 310 to the automatic control unit 330. The automatic control unit 330 controls the movement of the construction module 400 through the data information, moving the construction module 400 to a suitable position. The control module 300 then switches from the automatic control unit 330 to the remote operation unit 310. The operator controls the work of the robotic arm unit 420 through the remote operation unit 310. After the robotic arm unit 420 moves the drilling equipment to the drilling location, the control module 300 switches from the remote operation unit 310 to the automatic control unit 330. The automatic control unit 330 controls the drilling equipment to complete the drilling work, thereby realizing the drilling work based on the sensing module 200. Example

[0036] The vision module 100 acquires image information about the area around the vehicle and sends the image feature information to the control module 300. The sensing module 200 acquires the shape and distance information of obstacles around the vehicle and sends the information to the control module 300. The control module 300 switches from the remote operation unit 310 to the automatic control unit 330. The automatic control unit 330 controls the movement of the construction module 400. When the construction module 400 moves to the appropriate position, based on the relevant information about the area around the robotic arm unit 420 uploaded by the vision module 100 and the sensing module 200, the automatic control unit 330 controls the operation of the robotic arm unit 420. After the robotic arm unit 420 moves the drilling equipment to the drilling location, the automatic control unit 330 controls the drilling equipment to complete the drilling work, thereby realizing fully automatic drilling.

[0037] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural transformations made using the contents of the specification and drawings of the present invention under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of patent protection of the present invention.

Claims

1. A fully automatic drilling equipment control system, characterized in that, include: The vision module (100) is used to acquire visual image information of the four sides of the trolley and the drilling parts and holes of the construction module (400), and extract the features of the acquired images and upload the feature information to the control module (300); the vision module (100) includes an image acquisition unit (110) and an image feature extraction unit (120). The image acquisition unit (110) is used to acquire image information of the four sides of the trolley and the drilling parts and holes of the construction module (400), and send the information to the image feature extraction unit (120); The image feature extraction unit (120) is used to receive image information sent by the image acquisition unit (110), extract obstacle feature information, perforation feature information and hole feature information in the image, and send the feature information to the control module (300); The sensing module (200) is used to obtain the shape and distance information of obstacles around the car, and when the construction module (400) is working, it obtains the collision information of the robotic arm of the construction module (400) and the overload information of the drilling part of the construction module (400), and uploads the information to the control module (300). The control module (300) is used to acquire information uploaded by the vision module (100) and the sensing module (200), control the operation of the construction module (400) and the warning module (500), and acquire visual image information of the drilling part and the hole through the vision module (100) when the sensing module (200) uploads abnormal overload information. A construction module (400) is used to move at the construction site and complete drilling work according to the control; the construction module (400) includes a vehicle body unit (410), a robotic arm unit (420), a drilling unit (430), and an emergency stop unit (440); the emergency stop unit (440) is used to stop the work of the vehicle body unit (410), the robotic arm unit (420), and the drilling unit (430) after receiving a stop information sent by the control module (300); a warning module (500) is used to issue warning information to remind surrounding staff to avoid the equipment; The warning module (500) is used to issue warning messages to remind nearby staff to avoid the equipment.

2. The fully automatic drilling equipment control system according to claim 1, characterized in that, The image acquisition unit (110) consists of cameras installed around the trolley and at the construction module (400).

3. The fully automatic drilling equipment control system according to claim 1, characterized in that, The sensing module (200) includes an obstacle recognition unit (210), a distance recognition unit (220), an external force collision robotic arm recognition unit (230), and an overload recognition unit (240). The obstacle recognition unit (210) consists of radar sensors installed around the trolley and on the construction module (400). The distance recognition unit (220) consists of distance sensors installed around the trolley and on the construction module (400). The external force collision robotic arm recognition unit (230) consists of collision sensors installed on the construction module (400). The overload recognition unit (240) consists of overload sensors installed on the construction module (400).

4. The fully automatic drilling equipment control system according to claim 3, characterized in that, The obstacle recognition unit (210) is used to sense obstacle information around the trolley and construction module (400) and send the information to the control module (300); The distance recognition unit (220) is used to sense the distance information between the trolley and construction module (400) and surrounding objects, and send the information to the control module (300); The external force collision robotic arm identification unit (230) is used to sense the collision information received by the robotic arm and send the information to the control module (300); The overload identification unit (240) is used to sense the overload information of the construction module (400) and send the information to the control module (300).

5. The fully automatic drilling equipment control system according to claim 1, characterized in that, The control module (300) includes a remote operation unit (310), an automatic control unit (330), and a wireless transceiver unit (320). The remote operation unit (310) is composed of a touch screen remote control, the automatic control unit (330) is composed of a computer, and the wireless transceiver unit (320) is composed of a signal transceiver.

6. The fully automatic drilling equipment control system according to claim 5, characterized in that, The remote operation unit (310) is used to display relevant information collected by the vision module (100) and the sensing module (200), and to send control information to the wireless transceiver unit (320) under the operation of the staff. The automatic control unit (330) is used to receive information from the wireless transceiver unit (320), and automatically switches to automatic mode when entering the drilling stage, and operates the construction equipment to complete the drilling work according to the preset drilling information. The wireless transceiver unit (320) is used to transmit information between the various modules.

7. The fully automatic drilling equipment control system according to claim 1, characterized in that, The vehicle body unit (410) is used as a vehicle body to drive the robotic arm drive unit and the drilling unit (430) above to move. The robotic arm unit (420) is used as a robotic arm to adjust the position of the punching unit (430); The punching unit (430) is used to perform punching operations.

8. The fully automatic drilling equipment control system according to claim 1, characterized in that, The warning module (500) includes an auditory warning unit (510) and a visual warning unit (520). The auditory warning unit (510) consists of a buzzer and a speaker, and the visual warning unit (520) consists of a warning light.

9. The fully automatic drilling equipment control system according to claim 8, characterized in that, The auditory warning unit (510) is used to provide an auditory warning function to remind people around to avoid the device; The visual warning unit (520) is used to provide a visual warning function to remind people around to avoid the device.

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