A clustered construction robot island and control method

Abstract

The present invention discloses a clustered construction robot island and control method, including at least one group of robot mother machines and robots of the same or different types attached to each group of robot mother machines; the robot mother machine is connected by a main body part, an island frame part, and a capability base part; the capability base part includes a single rotation connection unit, a multi-rotation connection unit, a medium-sized frame installation unit, a large frame installation unit, and a small frame installation unit arranged outside the alloy bracket; a top monitoring unit is arranged on the top of the alloy bracket, and the top monitoring unit includes a monitoring mechanism installation plate inserted into the top of the alloy bracket and adjustable in height, and the monitoring mechanism installation plate extends outward and is provided with an image recognition camera and a three-dimensional laser radar scanner on its lower end surface. The present invention integrates the functional construction robots of each group of single islands on the market into the mother machine, thereby improving construction efficiency and application control costs.

Description

Technical Field

[0001] The present invention relates to the technical field of construction engineering, and in particular to a cluster-type construction robot island, and also to a control method for the cluster-type construction robot island. Background Art

[0002] At present, the application of construction robots in the process of construction is becoming more and more extensive, and the types are becoming more and more diverse, such as concrete leveling, vibrating, troweling, coating, maintenance robots, indoor automatic brick laying and tiling robots, waste steel recycling and processing robots, building material transportation robots, steel bar straightening and electroslag pressure welding robots, marking robots, slotting robots, spraying robots, grinding robots, etc., but the robots on the existing market are all constructed separately, and they are like isolated islands. Each robot requires a separate control system, which has high control costs and poor compatibility with each other, and it is difficult to cooperate with each other for construction. For construction scenes with high requirements for teamwork, such a single fight greatly reduces the efficiency of construction and the closeness of construction between each process. Therefore, a clustered construction robot island and control method that can connect various single construction robots on the market are needed. As a main capability base, it can directly install various types of construction robots with different functions on it, and at the same time merge the repeated movement, steering and other mechanisms of multiple robots into one mother machine, saving space while reducing control costs and making the entire robot cluster cooperate more closely and making fuller use of capabilities. Summary of the invention

[0003] The purpose of the present invention is to provide a cluster-type construction robot island, which can be installed with multiple groups of single and multi-rotation connection units and large, medium and small frame installation units through an alloy bracket arranged inside a single robot mother machine, and then various groups of single-island functional construction robots on the market can be integrated into the mother machine. At the same time, multiple groups of robot mother machines can be connected to each other through large-frame installation units to form robot islands of various shapes, such as a straight line, a cross star, a rectangle, etc., to achieve large-scale robot cluster coverage construction, greatly save the cost of integrating various robots on the market, and improve construction efficiency and application control costs.

[0004] Another object of the present invention is to provide a control method for a clustered construction robot island, which can be directly applied to the existing integrated construction of construction robots. By arranging a number of robot disassembly functional component installation mechanisms in a single robot mother machine and non-disassembly traction and push-pull installation mechanisms, a single mother machine has the ability of multi-functional construction. At the same time, multiple groups of single robot mother machines can be connected to each other to form a larger construction robot island, thereby obtaining the ability to install more types and numbers of robots, further improving the overall clustered construction robot construction efficiency and coverage.

[0005] To further achieve the above-mentioned purpose, the present invention adopts the following technical solution: a cluster-type construction robot island, comprising:

[0006] At least one group of robot mother machines and robots of the same or different types attached to each group of robot mother machines; the robot mother machine is composed of a main body part, an island frame part, and a capability base part;

[0007] The main body part includes a body, and a rectangular storage space is provided in the middle of the body for storing the control and power supply mechanisms of each robot; an inlet and outlet baffle is provided on one side or two opposite sides of the body for opening and storing the robot pulled in a direction perpendicular to the inlet and outlet baffle;

[0008] The island frame part includes alloy brackets arranged at the four corners of the body, and two alloy brackets on the same side perpendicular to the inlet and outlet baffle are connected to each other through a cross bar;

[0009] The capacity base part includes a single rotation connection unit, a multi-rotation connection unit, a medium-sized frame installation unit, a large-sized frame installation unit, and a small-sized frame installation unit arranged between the alloy brackets.

[0010] A top monitoring unit is provided on the top of the alloy bracket, and the top monitoring unit includes a monitoring mechanism mounting plate which is inserted into the top of the alloy bracket and has an adjustable height. The monitoring mechanism mounting plate extends outward and has an image recognition camera and a three-dimensional laser radar scanner on its lower end surface.

[0011] Optionally, rollers are provided at the bottom of both sides of the body, and battery packs are provided above the middle of both sides.

[0012] Optionally, front and rear openings are opened on the outward side of the alloy bracket in the area below the cross bar, and left and right openings are opened on the opposite sides of the two alloy brackets on the same side perpendicular to the direction of the inlet and outlet baffle; a top opening is opened on the alloy bracket in the area above the cross bar.

[0013] Optionally, a connecting rod is provided between two alloy brackets on the same side parallel to the inlet and outlet baffle direction;

[0014] The single-rotation connection unit comprises a single-rotation connection rod, and the single-rotation connection rod is threadedly connected to the connecting rod on one side;

[0015] The multi-rotation connection unit includes a plurality of single-rotation connection rods, which are spread outwards to have a certain inclination angle and are respectively threadedly connected to the connecting rods on the other side;

[0016] A robot mounting seat is provided at the end of the single-rotation connecting rod, which is used to be directly connected to various robots through bolts and nuts.

[0017] Optionally, the small frame mounting unit includes a small frame mounting plate arranged between two alloy brackets on the same side of the vertical inlet and outlet baffle, which is used to install small robot functional components and / or serve as a line connection base.

[0018] Optionally, the medium-sized frame installation unit includes a medium-sized frame installation plate arranged on the outside of two alloy brackets on the same side of the vertical inlet and outlet baffle, which is used for fixing and installing the robot functional components.

[0019] Furthermore, the installation heights of the two medium-sized frame mounting plates on both sides of the vertical entry and exit baffle can be the same or different, and the upper and lower end surfaces of the medium-sized frame mounting plates can be used to install components, so as to maximize the adjustment of the construction height of the robot functional components.

[0020] Optionally, the large frame mounting unit includes an upper and lower layer of robot array mounting plates arranged on the outside of a single alloy bracket along the same side parallel to the entry and exit baffle, and the robot array mounting plate extends outward for a long distance, is used to connect with another main body, and provides a certain space for the construction of single robot functional components between the two robot mother machines, the two robot array mounting plates have a certain spacing distance between them, and are provided with a plurality of array threaded holes for installing robot functional components.

[0021] Furthermore, the two large frame mounting units located on the same robot mother machine have different installation heights, which are used to enable the array robot functional components thereon to be constructed synchronously at different heights and in different directions; the installation heights are the same, which is used to directly install the large robot between the two large frame mounting units.

[0022] Accordingly, the present invention also claims protection for a control method of the aforementioned clustered construction robot island, comprising the following steps:

[0023] S1. Installation of the internal capacity base of the robot mother machine: Before the robot cluster construction, install the single rotation connection unit, multi-rotation connection unit, medium-sized frame installation unit, small frame installation unit, and top monitoring installation unit on the alloy bracket of the single robot mother machine according to actual needs. The specific installation position, direction, and number can be flexibly adjusted according to actual needs;

[0024] S2. Connection of robot mothership island: according to the occupancy of the threaded holes of the alloy brackets on each group of single robot motherships, the connection mode between multiple groups of robot motherships is set, and they are connected through large frame units, and finally various shapes of robot mothership islands are formed, including straight line, cross star, and rectangle;

[0025] S3. Installation of functional components: For single robots that are inconvenient to disassemble, they can be directly installed at the end of a single rotating connection unit or a multi-rotating connection unit for traction, pushing and pulling construction, or directly installed on a large frame installation unit and constructed in the island construction area composed of a robot mother machine; for single robots that are easy to disassemble, their mobile control components can be directly removed, and their main construction components can be installed on a small frame installation unit or a medium frame installation unit;

[0026] S4. Connection of functional components: After the connection and installation of each group of robots are completed, their main control systems and power supply systems are connected to the master control system stored in the rectangular storage space in the middle of the body through wires. For the robots used for traction, the robots can be released to work by opening the access baffles;

[0027] S5. Clustered robot fleet construction: Finally, during the construction, the robot fleet formed by the robot mother machine performs mobile covering construction, and at the same time, image recognition assistance and three-dimensional positioning assistance are performed in real time through the image recognition camera and three-dimensional lidar scanner on its top monitoring unit.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. Compared with the prior art in which each group of construction robots on the market is controlled and constructed separately and are not interconnected, the present invention is installed through an island formed by a robot mother machine or multiple groups of combined robot mother machines, and the robot mother machine without construction function is endowed with various construction capabilities. At the same time, a large number of construction robots that are originally not interconnected are combined for unified control and construction, so that the formed robot fleet can cope with various construction needs, while saving the redundant movement and positioning components caused by the lack of communication between different types of construction robots, saving control costs and improving the overall construction efficiency and discipline of the robot fleet.

[0030] 2. The present invention integrates the control systems, power supply systems, and mobile systems of different types of robots into a single main body platform, thereby greatly reducing the control and mobile costs of the robot cluster, and allowing each group of robots to collaborate more closely to improve construction efficiency.

[0031] 3. Compared with the single robot construction in the prior art, the alloy bracket designed in the present invention can be used to connect the robot functional parts mounting seat inside the body, and can also be used to connect multiple groups of robot mother machines outside the body, so that the robot mother machine forms an island, and cooperates with the functional components of various single robots thereon to form a construction robot fleet, which greatly improves the adaptability and efficiency of the cluster's construction.

[0032] 4. The present invention can directly connect the existing single robot through the rotating connection unit on the alloy bracket without any modification, thereby minimizing the application cost. It can also make it directly follow the mother machine for construction by pulling and pushing, thus saving the positioning and moving costs. It can also use the medium, small and large frame installation units to take the functional components of the detachable robot and install them directly on the frame, thus reducing the moving and control costs. For large robots, they can also be installed on the island formed by several groups of robot mother machines through large frame installation units. That is, if four robot mother machines form a rectangular space, the large robot can be installed therein to form a Japanese-shaped robot fleet.

[0033] 5. The single or multi-rotation connection units and the large, medium and small frame installation units in the capacity base part of the present invention are installed on the alloy bracket through bolt and nut threaded holes, so it has strong adaptability and adjustability. According to the adjustment of the number, direction and position of each unit, it can adapt to the connection and installation of various robots on the market to the greatest extent, effectively reducing the use cost of robot clusters. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0035] Figure 1 It is a schematic diagram of the overall structure and robot cluster of the present invention;

[0036] Figure 2 It is a schematic diagram of the overall structure of the main body of the mother machine of the present invention;

[0037] Figure 3 This is a schematic diagram of the overall structure of the island frame part of the present invention;

[0038] Figure 4 It is a schematic diagram of the overall structure of the power base part of the present invention.

[0039] Description of Reference Numerals :

[0040] 0000-Robot mother machine; 0001-Concrete pouring and vibrating robot; 0002-Building material transportation robot; 0003-Concrete leveling, troweling and watering maintenance robot; 0004-Air duct screw hanger installation robot; 0005-Floor line painting robot; 0006-Structural column steel cage installation robot;

[0041] 1000-Main body part:

[0042] 1001-body; 1002-entry and exit baffle; 1003-roller; 1004-battery pack;

[0043] 2000-Ship island rack part:

[0044] 2001-alloy bracket; 2001a-front and rear openings; 2001b-left and right openings; 2002-crossbar; 2003-top opening;

[0045] 3000-capacity base section:

[0046] 3100-single rotation connection unit; 3101-single rotation connection rod;

[0047] 3200-multi-rotation connection unit; 3201-multi-rotation connection rod;

[0048] 3300-Medium rack mounting unit; 3301-Medium rack mounting plate;

[0049] 3400-Small rack mounting unit; 3401-Small rack mounting plate;

[0050] 3500-top monitoring installation unit; 3501-monitoring mechanism installation plate; 3502-image recognition camera; 3503-3D laser radar scanner;

[0051] 3600 - Large frame mounting unit; 3601 - Robot array mounting plate. DETAILED DESCRIPTION

[0052] In order to facilitate ordinary technicians in the field to understand and implement the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and implementation examples. It should be understood that the implementation examples described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0053] Embodiment 1:

[0054] A clustered construction robot island, consisting of Figure 1As shown, it includes a robot mother machine 0000 as the main body and various groups of robots attached thereto, such as a concrete pouring and vibrating robot 0001, a building material transporting robot 0002, a concrete leveling, troweling and watering maintenance robot 0003, an air duct screw hanger installation robot 0004, a floor line painting robot 0005, and a structural column steel cage installation robot 0006. More groups of robots can be added here, all of which are construction robots that can be directly purchased on the market; the robot mother machine 0000 is composed of a main body part 1000, an island frame part 2000, and a capacity base part 3000 connected in sequence. Compared with the prior art in which each group of construction robots on the market is controlled and constructed separately and is not interconnected, the present invention is installed through a ship island formed by a robot mother machine 0000 or multiple groups of combined robot mother machines, and the robot mother machine 0000 that has no construction function is endowed with various construction capabilities. At the same time, a large number of construction robots that were originally not interconnected are combined for unified control and construction, so that the formed robot fleet can cope with various construction needs, while saving the redundant moving and positioning components caused by the lack of communication between different types of construction robots, saving control costs and improving the overall construction efficiency and discipline of the robot fleet.

[0055] Depend on Figure 2 As shown, the main body part 1000 includes a body 1001 as the main body, wherein a rectangular storage space is provided in the middle for storing the control and power supply mechanisms of each robot, and an entry and exit baffle 1002 is provided at the rightmost end for opening and storing the robot towed from the rear. It should be noted that the entry and exit baffle 1002 can be set not only on the right side, but also on the left side or both sides, so as to cope with the robot towing and recovery work in different directions; rollers 1003 are provided at the bottom of both sides of the body 1001, and battery packs 1004 are provided on the upper middle part of both sides; the purpose of setting this structure is that after the connection and installation of each group of robots are completed, their main control systems and power supply systems are connected to the master control system stored in the rectangular storage space in the middle of the body 1001 through wires, and the robot used for towing can be released to work after the entry and exit baffle 1002 is opened. Compared with the prior art, the present invention integrates the control systems, power supply systems, and mobile systems of different types of robots into a single main body platform through a main body part 1000, thereby greatly reducing the control cost and mobile cost of the robot cluster, while allowing each group of robots to collaborate more closely to improve construction efficiency.

[0056] Depend on Figure 3 As shown, the main body of the island frame part 2000 is composed of alloy brackets 2001 installed on the four corners of the outer baffles on both sides of the body 1001. The alloy brackets 2001 are provided with a plurality of threaded holes at intervals. For the convenience of description, the four alloy brackets 2001 are referred to as the upper left, lower left, upper right, and lower right four frames. Figure 3 As shown, the upper left and upper right alloy brackets 2001 are fixedly connected by a cross bar 2002, and the lower left and lower right alloy brackets 2001 are also connected to each other by the cross bar. The lower left and lower right alloy brackets 2001 located below the cross bar 2002 have arrayed front and rear openings 2001a on the front and arrayed left and right openings 2001b on the side. It should be noted that the left and right openings 2001b and the front and rear openings 2001a can be vertically spaced with a certain height difference, that is, each left and right opening 2001a can be vertically spaced with a certain height difference. 01b and the front and rear openings 2001a are not on the same horizontal plane, but are separated by a certain distance. The purpose is that after the front and rear openings 2001a are inserted with bolts, the left and right openings 2001b can still be inserted with bolts, thereby achieving maximum space utilization and compressing the functional space loss caused by volume expansion; the alloy bracket 2001 located in the area above the crossbar 2002 is also provided with a top opening 2003, which is the same in size and shape as the front and rear, left and right openings, and is only described here for functional distinction. Similarly, the top opening 2003 here The openings 2003 can also be arranged in arrays and height differences to meet the needs of installing different functional parts; the purpose of setting up this structure is to provide a number of threaded holes on the island frame part 2000 installed on the main body part 1000 through the alloy bracket 2001, and different installation units can be installed through different corresponding openings in the rectangular space formed by the alloy bracket. Because the four alloy brackets 2001 are symmetrical to each other and have the same structure, the installation and switching of functional parts therebetween are more convenient, and the installation shapes can be combined and matched according to actual needs to form the most suitable mounting seat for a single robot, and the alloy bracket 2001 can not only be used to connect components on a single robot mother machine 0000, it can also be used to connect different robot mother machines 0000, so it has both internal and external functions. While the internal combination connection forms a construction functional component cluster, it can also be combined and connected externally to form a robot mother machine island, thereby installing more large single robots and forming robot fleets of various shapes, thereby better meeting the needs of construction. Compared with the single robot construction in the prior art, the alloy bracket designed in the present invention can be used to connect the robot functional parts mounting seat inside the body, and can also be used to connect multiple groups of robot mother machines 0000 outside the body, so that the robot mother machine forms an island, and cooperates with the functional components of various single robots thereon to form a construction robot fleet, which greatly improves the adaptability and efficiency of the cluster's construction.

[0057] Depend on Figure 4As shown, the capacity base part 3000 includes a single-rotation connection unit 3100, a multi-rotation connection unit 3200, a medium-sized frame mounting unit 3300, a small frame mounting unit 3400, a large frame mounting unit 3600, and a top monitoring mounting unit 3500; the single-rotation unit 3100 is supported by a mounting seat mounted on the opening of the alloy bracket 2001, and an annular mounting member is provided on the left and right mounting seats, and a bearing is provided inside the annular member, and a connecting rod is fixed between the two bearings, and a symmetrical threaded hole is provided in the middle of the connecting rod, and a thread is provided at the end of the single-rotation connecting rod 3101, which is fixed in the connecting rod by thread rotation. The end of the single-rotation connecting rod 3101 is provided with a robot mounting seat, which can be directly fixedly connected to various robots by bolts and nuts, such as the concrete pouring and vibrating robot 0001, the concrete leveling, troweling and watering maintenance robot 0003, etc. After connection, the robot can be directly towed for mobile construction, directly eliminating the positioning and movement control costs of the robot; the general structure of the multi-rotation connecting unit 3200 is similar to the single-rotation connecting unit 3100, except that its single-rotation connecting rod 3101 is increased to a multi-rotation connecting rod 3201, that is, the multi-rotation connecting rod 3201 can be composed of three groups of single-rotation connecting rods 3101 in parallel, The three groups of single-rotation connecting rods 3101 can be spread outwards with a certain inclination angle to each other, thereby obtaining a larger construction space and avoiding volume collision and interference between the connected groups of robots; it should be noted that in the figure, only the single-rotation connecting unit 3100 and the multi-rotation connecting unit 3200 are arranged on the front and rear sides of the alloy bracket 2001, only for the purpose of description. In fact, they can be arranged on the left and right sides, front and rear sides according to needs, and the height and number can also be adjusted. Because they are fixed to the openings of the alloy bracket by bolts and nuts, they have extremely high adjustability and adaptability. Similarly, the following medium-sized frame installation unit 3300 and small frame installation The same applies to the unit 3400, the large frame installation unit 3600, and the top monitoring installation unit 3500; the small frame installation unit 3400 is installed between two of the four rods of the alloy bracket 2001, and the rotating connection unit, the medium and large frame units are usually installed on the outside. The small frame installation unit 3400 is composed of a small frame installation plate 3401 installed between two mounting seats, which is provided with a plurality of array threaded holes, which can be used to install small robot functional components, and can also be used as an internal platform to make the connection between the single robot system and the main control system of the main body more convenient, that is, as a line connection base, etc.The medium-sized frame installation unit 3300 is composed of an L-shaped bracket installed on the outer mounting seats of the two rods. A larger medium-sized frame installation plate 3301 is provided at the end of the bracket. There are several array threaded holes on it for fixing and installing the robot functional components. This unit is the main functional component installation unit inside the robot mother machine 0000. It can provide a larger installation space. At the same time, because it has a large height difference, it can adjust the construction height of the robot functional components to the greatest extent when it is installed between threaded holes of different heights. At the same time, both positive and negative connections can be used for component installation, that is, the functional parts can be installed at the bottom. The upper surface of the mounting plate can also be installed on the lower surface. The front and back of the figure are the forward and reverse mounting units, so that it can complete high-level construction similar to the ceiling and can also carry out continuous construction on the ground. The duct screw hanger installation robot 0004 and the floor line painting robot 0005 can be installed on it. During installation, the moving components of the single robot can be removed, leaving only the construction components; the top monitoring unit 3500 is composed of an alloy frame with an area slightly smaller than the internal slots of the alloy bracket 2001 frame. It is also provided with a number of array openings, corresponding to the top openings 2003 of the alloy bracket 2001, through The height and direction of the monitoring mechanism mounting plate 3501 installed on the top of the alloy bracket 2001 can be adjusted by adjusting the height and direction of the slot hole inserted into the alloy bracket 2001; the monitoring mechanism mounting plate 3501 extends outward for a certain distance, and an image recognition camera 3502 and a three-dimensional laser radar scanner 3503 can be set on its lower surface; the image recognition camera is a universal part, mainly used to cooperate with the functional components of the construction robot for image recognition, so as to enable it to perform precise construction; the three-dimensional laser radar scanner 3503 is a universal part, mainly used for positioning the robot mother machine 0000, and then controlling the machine The robot island performs automatic radar identification and coverage construction within a predetermined range; the large frame installation unit 3600 is composed of an upper and lower layer of robot array installation plates 3601 installed on the outside of a single alloy bracket 2001. The robot array installation plate 3601 extends outward for a long distance. The purpose of extending a certain distance from the main body is to connect with another main body and provide a certain space for the construction of a single robot functional component between the two robot mother machines. The two robot array installation plates 3601 have a certain spacing distance up and down, and are provided with a number of array threaded holes for installing robot functional components. Figure 4As shown, the two large frame installation units 3600 on the left and right sides can be set to different heights, so that the array robot functional components thereon can be constructed synchronously at different heights and in different directions, or they can be set to the same height. In this case, the large robot can be directly installed between the two large frame installation units 3600, such as the building material transportation robot 0002, the structural column steel cage installation robot 0006, etc.; the purpose of setting up this structure is that before the robot cluster construction is carried out, the single rotation connection unit 3100, the multi-rotation connection unit 3200, the medium-sized frame installation unit 3300, the small frame installation unit 3400, and the top monitoring installation unit 3500 can be installed on the alloy bracket 2001 of the single robot mother machine 0000 according to actual needs. The specific installation position, direction, and number can be flexibly adjusted according to actual needs. Subsequently, according to the occupancy of the threaded holes of the alloy brackets on each group of single robot mother machines 0000, the connection method between multiple groups of robot mother machines 0000 is set, and they are connected through the large frame units 3600, and finally various shapes can be formed. The robot island is in the shape of a straight line, a cross, a rectangle, etc., and then the robot functional components are installed. For a single robot that is inconvenient to disassemble, it can be directly installed at the end of the single rotation connection unit 3100 and the multi-rotation connection unit 3200 for traction and push-pull construction, or directly installed on the large frame installation unit 3600 and constructed through the island construction area composed of the robot mother machine. The construction area refers to the area extending outward from a certain distance from the mounting seat composed of the large frame installation units 3600 connected between the two mother machines, that is, the farthest area that the robot functional components installed thereon can reach; for a single robot that is easy to disassemble, its mobile control components can be directly removed, and its main construction components can be installed on the small frame installation unit 3400 or the medium frame installation unit 3300. Finally, during construction, the robot fleet formed by the robot mother machine 0000 can carry out mobile covering construction, and at the same time, image recognition assistance and three-dimensional positioning assistance construction can be carried out in real time through the image recognition camera 3502 and the three-dimensional laser radar scanner 3503 on its top monitoring unit 3500.Compared with the prior art, the present invention can directly connect the existing single robot through the rotating connection unit on the alloy bracket without any modification, thereby minimizing the application cost, and can directly follow the mother machine for construction by pulling and pushing, thereby eliminating the positioning and moving costs. The functional components of the detachable robot can be taken through medium-sized, small-sized, and large-sized frame installation units, and directly installed on the frame, thereby reducing the moving and control costs. For large robots, they can also be installed on the island formed by several groups of robot mother machines 0000 through large-sized frame installation units 3600, that is, if a rectangular space is formed by four robot mother machines, the large robot can be installed therein to form a Japanese-shaped robot fleet; at the same time, the single and multiple rotating connection units and the large, medium and small frame installation units in the capacity base part of the present invention are installed on the alloy bracket through bolt and nut threaded holes, so it has extremely strong adaptability and adjustability. According to the adjustment of the number, orientation, and position of each unit, it can adapt to the connection and installation of various robots on the market to the greatest extent, effectively reducing the use cost of robot clusters.

[0058] Embodiment 2:

[0059] A control method for a clustered construction robot island, see Figure 1-4 , the steps are:

[0060] S1. Installation of the internal capacity base of the robot mother machine: Before the robot cluster construction is carried out, the single rotation connection unit 3100, the multi-rotation connection unit 3200, the medium-sized frame installation unit 3300, the small frame installation unit 3400, and the top monitoring installation unit 3500 can be installed on the alloy bracket 2001 of the single robot mother machine 0000 according to actual needs. The specific installation position, direction, and number can be flexibly adjusted according to actual needs. The island frame part 2000 installed on the main body part 1000 through the alloy bracket 2001 is provided with a plurality of threaded holes. Different installation units can be installed through different corresponding openings in the rectangular space formed by the alloy bracket 2001. Unit, because the four frames are symmetrical and structurally connected, the installation and switching of the functional parts therebetween are more convenient, and the shapes of the installations can be combined and matched according to actual needs to form the most suitable mounting seat for a single robot, and the alloy bracket 2001 can not only be used to connect the components on a single robot mother machine 0000, but also can be used to connect different robot mother machines 0000, so it has both internal and external functions, and can be combined and connected internally to form a cluster of construction functional components, and can also be combined and connected externally to form a robot mother machine island, thereby installing more large single robots and forming robot fleets of various shapes, thereby better responding to construction needs;

[0061] S2. Connection of robot mother machine island: according to the occupancy of the threaded holes of the alloy brackets on each group of single robot mother machines 0000, the connection mode between multiple groups of robot mother machines 0000 is set, and they are connected through the large frame unit 3600, and finally various shapes of robot islands can be formed, such as straight line, cross star, rectangle, etc.;

[0062] S3, installation of functional components: then the installation of the robot functional components is carried out. For a single robot that is inconvenient to disassemble, it can be directly installed at the end of the single rotating connection unit 3100 or the multi-rotating connection unit 3200 for traction, pushing and pulling construction, or directly installed on the large frame installation unit 3600 through the construction area of ​​the ship island composed of the robot mother machine. The construction area refers to the area extending outward by a certain distance from the mounting seat composed of the large frame installation unit 3600 connected between the two mother machines, that is, the farthest area that the robot functional components installed thereon can reach; for a single robot that is easy to disassemble, its mobile control component can be directly removed, and its main construction component can be installed on the small frame installation unit 3400 or the medium frame installation unit 3300;

[0063] S4, functional component connection: after the connection and installation of each group of robots are completed, the main control system and power supply system are connected to the master control system stored in the rectangular storage space in the middle of the body 1001 through wires. For the robot used for traction, the robot can be released to work after opening the in-and-out baffle 1002;

[0064] S5. Clustered robot fleet construction: Finally, during construction, the robot fleet formed by the robot mother machine 0000 can perform mobile covering construction, while simultaneously performing image recognition-assisted and three-dimensional positioning-assisted construction through the image recognition camera 3502 and the three-dimensional lidar scanner 3503 on its top monitoring unit 3500 in real time.

[0065] It should be understood that the above description of the preferred embodiment is relatively detailed and cannot be regarded as limiting the scope of patent protection of the present invention. Under the enlightenment of the present invention, ordinary technicians in this field can also make substitutions or modifications without departing from the scope of protection of the claims of the present invention, which all fall within the scope of protection of the present invention. The scope of protection requested for the present invention shall be based on the attached claims.

Claims

1. A clustered construction robot island, characterized in that: include: At least one group of robot mother machines and robots of the same or different types attached to each group of robot mother machines; The robot mother machine is composed of a main body part, an island frame part, and a power base part; The main body part includes a body, a rectangular storage space is provided in the middle of the body, and is used to store the control and power supply mechanisms of each robot; an inlet and outlet baffle is provided on one side or two opposite sides of the body, and is used to store the robot pulled in a direction perpendicular to the inlet and outlet baffle after opening; Rollers are provided at the bottom of both sides of the machine body; The island frame part includes alloy brackets arranged at the four corners of the body, and two alloy brackets on the same side perpendicular to the inlet and outlet baffle are connected to each other through a cross bar; The capacity base part includes a single rotation connection unit, a multi-rotation connection unit, a medium-sized frame installation unit, a large-sized frame installation unit, and a small-sized frame installation unit arranged between the alloy brackets. A top monitoring unit is provided on the top of the alloy bracket, and the top monitoring unit includes a monitoring mechanism mounting plate which is inserted into the top of the alloy bracket and has an adjustable height. The monitoring mechanism mounting plate extends outward and has an image recognition camera and a three-dimensional laser radar scanner on its lower end surface.

2. The clustered construction robot island according to claim 1 is characterized in that: A battery pack is arranged above the middle of both sides of the machine body.

3. The clustered construction robot island according to claim 1 is characterized in that: Front and rear openings are provided on the outward side of the alloy bracket in the area below the cross bar, and left and right openings are provided on the opposite sides of the two alloy brackets on the same side perpendicular to the direction of the inlet and outlet baffle; a top opening is provided on the alloy bracket in the area above the cross bar.

4. The clustered construction robot island according to claim 1 is characterized in that: A connecting rod is provided between two alloy brackets on the same side parallel to the inlet and outlet baffle; The single-rotation connection unit comprises a single-rotation connection rod, and the single-rotation connection rod is threadedly connected to the connecting rod on one side; The multi-rotation connection unit includes a plurality of single-rotation connection rods, which are spread outwards to have a certain inclination angle and are respectively threadedly connected to the connecting rods on the other side; A robot mounting seat is provided at the end of the single-rotation connecting rod, which is used to be directly connected to various robots through bolts and nuts.

5. The clustered construction robot island according to claim 1 is characterized in that: The small frame installation unit includes a small frame installation plate arranged between two alloy brackets on the same side of the vertical inlet and outlet baffle, which is used to install small robot functional components and / or serve as a line connection base.

6. The clustered construction robot island according to claim 1, characterized in that: The medium-sized frame installation unit includes a medium-sized frame installation plate arranged on the outside of two alloy brackets on the same side of the vertical inlet and outlet baffle, which is used for fixing and installing the robot functional components.

7. The clustered construction robot island according to claim 6 is characterized in that: The installation heights of the two medium-sized frame mounting plates on both sides of the vertical inlet and outlet baffle can be the same or different, and the upper and lower end surfaces of the medium-sized frame mounting plates can be used for component installation, so as to adjust the construction height of the robot functional components to the greatest extent.

8. The clustered construction robot island according to claim 1 is characterized in that: The large frame mounting unit includes an upper and lower layer of robot array mounting plates arranged on the outside of a single alloy bracket along the same side parallel to the entry and exit baffle. The robot array mounting plate extends outward for a long distance and is used to be connected to another main body, and provides a certain space for the construction of single robot functional components between the two robot mother machines. The two robot array mounting plates have a certain spacing distance between them, and are provided with a plurality of array threaded holes for installing robot functional components.

9. The clustered construction robot island according to claim 8, characterized in that: The two large frame installation units located on the same robot mother machine have different installation heights, which are used to enable the array robot functional components thereon to be constructed synchronously at different heights and in different directions; the installation heights are the same, which is used to directly install the large robot between the two large frame installation units.

10. A control method for a clustered construction robot island according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Installation of the internal capacity base of the robot mother machine: Before the robot cluster construction, install the single rotation connection unit, multi-rotation connection unit, medium-sized frame installation unit, small frame installation unit, and top monitoring installation unit on the alloy bracket of the single robot mother machine according to actual needs. The specific installation position, direction, and number can be flexibly adjusted according to actual needs; S2. Connection of robot mothership island: according to the occupancy of the threaded holes of the alloy brackets on each group of single robot motherships, the connection mode between multiple groups of robot motherships is set, and they are connected through large frame units, and finally various shapes of robot mothership islands are formed, including one of the straight, cross, and rectangular shapes; S3. Installation of functional components: For single robots that are inconvenient to disassemble, they can be directly installed at the end of a single rotating connection unit or a multi-rotating connection unit for traction, pushing and pulling construction, or directly installed on a large frame installation unit and constructed in the island construction area composed of a robot mother machine; for single robots that are easy to disassemble, their mobile control components can be directly removed, and their main construction components can be installed on a small frame installation unit or a medium frame installation unit; S4. Connection of functional components: After the connection and installation of each group of robots are completed, their main control systems and power supply systems are connected to the master control system stored in the rectangular storage space in the middle of the body through wires. For the robots used for traction, the robots can be released to work by opening the access baffles; S5. Clustered robot fleet construction: Finally, during the construction, the robot fleet formed by the robot mother machine performs mobile covering construction, and at the same time, image recognition assistance and three-dimensional positioning assistance are performed in real time through the image recognition camera and three-dimensional lidar scanner on its top monitoring unit.

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