Intelligent control method of nailing robot and nailing robot

Abstract

The present invention discloses an intelligent control method of a nailing robot and a nailing robot, the method comprising: a host computer obtains a current nailing position according to stored drawing information, controls a moving chassis module to drive the nailing module to move to the current nailing position, and obtains nailing point position data based on environmental information collected by a camera module; if a bottom-level controller receives the nailing point position data, it controls a mobile module and a nailing module to perform a nailing operation based on a nailing control strategy, controls the mobile module to drive the nailing module to move to a nailing point corresponding to the nailing point position data, and controls the mobile module and the nailing module to perform a nailing operation; if the host computer receives a nailing completion signal transmitted by the bottom-level controller, it obtains the next nailing position to update the current nailing position for the next round of nailing operations. The present invention controls the moving chassis module, the mobile module and the nailing module based on the host computer and the bottom-level controller, and can realize continuous, autonomous and efficient nailing of the nailing robot.

Description

Technical Field

[0001] The present invention relates to the field of building technology, and in particular to an intelligent control method of a nailing robot and the nailing robot. Background Art

[0002] In recent years, with the continuous development of computer technology, robotics technology, etc., all walks of life are actively promoting industrial transformation and upgrading to further improve efficiency and quality. At the same time, the construction industry is gradually achieving standardization and vigorously promoting modular construction. In response to this development trend, new processes or production methods are needed to improve production efficiency.

[0003] In the production process of modular boxes, nails are needed to overlap and fix some components in the modular boxes. For example, self-tapping screws are needed to connect the cement fiber board and the steel beam on the bottom side of the box. In addition, in the nailing operation of the modular box, the existing construction method is that workers use handheld impact screwdrivers to nail. However, this method is not efficient and has high labor intensity. Therefore, a new automatic nailing robot and a corresponding control method are needed to improve production efficiency. Summary of the invention

[0004] The embodiments of the present invention provide an intelligent control method of a nailing robot and the nailing robot, aiming to solve the problems of low nailing efficiency and high labor intensity in the prior art.

[0005] In a first aspect, an embodiment of the present invention provides an intelligent control method for a nailing robot, which is applied to the nailing robot, wherein the nailing robot includes a host computer, a bottom-level controller, a camera module, a motion chassis module, a mobile module, and a nailing module, wherein the host computer is communicatively connected with the bottom-level controller, the camera module, and the motion chassis module, and the bottom-level controller is communicatively connected with the mobile module and the nailing module;

[0006] The method comprises:

[0007] The host computer obtains the current nailing position according to the stored drawing information;

[0008] The host computer controls the motion chassis module to drive the nailing module to move to the current nailing position, and obtains nailing point position data based on the environmental information collected by the camera module;

[0009] If the bottom-level controller receives the nailing point position data, it controls the moving module and the nailing module to perform a nailing operation based on a preset nail removal control strategy;

[0010] The bottom-level controller controls the moving module to drive the nailing module to move to the nailing point corresponding to the nailing point position data, and controls the moving module and the nailing module to perform the nailing operation;

[0011] If the upper computer receives a nailing completion signal transmitted by the underlying controller, it obtains the next nailing position according to the nailing completion signal and the drawing information, and when it is determined that the next nailing position is a non-empty set, it uses the next nailing position to update the current nailing position, and returns to execute the step of the upper computer controlling the motion chassis module to drive the nailing module to move to the current nailing position, and obtaining the nailing point position data based on the environmental information collected by the camera module.

[0012] In a second aspect, an embodiment of the present invention provides a nailing robot, which includes: a host computer, a bottom-level controller, a camera module, a motion chassis module, a mobile module and a nailing module, wherein the host computer is communicatively connected with the bottom-level controller, the camera module and the motion chassis module, and the bottom-level controller is communicatively connected with the mobile module and the nailing module;

[0013] The host computer is used to obtain the current nailing position according to the stored drawing information;

[0014] The host computer is further used to control the motion chassis module to drive the nailing module to move to the current nailing position, and obtain nailing point position data based on the environmental information collected by the camera module;

[0015] The bottom-level controller is configured to control the moving module and the nailing module to perform a nail removal operation based on a preset nail removal control strategy if the nailing point position data is received;

[0016] The bottom-level controller is further used to control the moving module to drive the nailing module to move to the nailing point corresponding to the nailing point position data, and control the moving module and the nailing module to perform the nailing operation;

[0017] The host computer is also used to, if receiving a nailing completion signal transmitted by the underlying controller, obtain a next nailing position according to the nailing completion signal and the drawing information, and when determining that the next nailing position is a non-empty set, use the next nailing position to update the current nailing position, return to execute the step of the host computer controlling the motion chassis module to drive the nailing module to move to the current nailing position, and obtain the nailing point position data based on the environmental information collected by the camera module.

[0018] The embodiment of the present invention provides an intelligent control method of a nailing robot and a nailing robot, the method comprising: the host computer obtains the current nailing position according to the stored drawing information, controls the moving chassis module to drive the nailing module to move to the current nailing position, and obtains the nailing point position data based on the environmental information collected by the camera module; if the bottom controller receives the nailing point position data, it controls the mobile module and the nailing module to perform the nailing operation based on the nailing control strategy, controls the mobile module to drive the nailing module to move to the nailing point corresponding to the nailing point position data, and controls the mobile module and the nailing module to perform the nailing operation; if the host computer receives the nailing completion signal transmitted by the bottom controller, it obtains the next nailing position to update the current nailing position for the next round of nailing operation. The present invention controls the moving chassis module, the mobile module and the nailing module based on the host computer and the bottom controller, and can realize continuous, autonomous and efficient nailing of the nailing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0020] Figure 1 A schematic diagram of a flow chart of an intelligent control method for a nailing robot provided by an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of a sub-process of an intelligent control method for a nailing robot provided by an embodiment of the present invention;

[0022] Figure 3 A schematic block diagram of a nailing robot provided in accordance with an embodiment of the present invention. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0025] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0026] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0027] See also Figures 1 to 3 , Figure 1 A schematic diagram of a flow chart of an intelligent control method for a nailing robot provided by an embodiment of the present invention; Figure 2 A schematic diagram of a sub-process of an intelligent control method for a nailing robot provided by an embodiment of the present invention; Figure 3 A schematic block diagram of a nail driving robot provided by an embodiment of the present invention, and Figure 3 The figure shows the communication connection relationship among the upper computer, underlying controller, camera module, motion chassis module, mobile module and nailing module in the nailing robot.

[0028] See also Figure 1 and Figure 3 The intelligent control method of the nailing robot provided in the embodiment of the present invention is applied to the nailing robot, the nailing robot includes a host computer, a bottom-level controller, a camera module, a motion chassis module, a mobile module and a nailing module, the host computer is communicatively connected with the bottom-level controller, the camera module and the motion chassis module, the bottom-level controller is communicatively connected with the mobile module and the nailing module, wherein the host computer, the bottom-level controller and the mobile module can be arranged on the motion chassis module, the nailing module can be arranged on the mobile module, and the camera module can be arranged on the nailing module, so that the host computer, the bottom-level controller, the camera module, the mobile module and the nailing module are carried by the motion chassis module. The intelligent control method of the nailing robot provided in the embodiment of the present invention includes steps S11 to S15.

[0029] S11, the host computer obtains the current nailing position according to the stored drawing information.

[0030] In this embodiment, the upper computer in the nailing robot obtains the current nailing position according to the stored drawing information, wherein the drawing information includes the nailing positions to be nailed, and the nailing positions included are set in sequence. In addition, the current nailing position obtained by the upper computer in step S11 is the first nailing position in the current continuous nailing operation process of the nailing robot.

[0031] In one embodiment, before step S11, the intelligent control method of the nailing robot provided by the embodiment of the present invention further includes:

[0032] The host computer initializes and starts the camera module;

[0033] The bottom-level controller initializes and controls the nailing module and the moving module to reset to corresponding initialization states.

[0034] In this embodiment, before step S11, the nailing robot needs to be powered on and initialized. Specifically, the host computer is initialized and the camera module is started to start the camera module. At the same time, the bottom-level controller is initialized, and then the bottom-level controller first controls the nailing module to reset to the corresponding initialization state, and then controls the mobile module to reset to the corresponding initialization state. Among them, the initialization state corresponding to the nailing module indicates that the impact screwdriver in the nailing module is in a stopped state, and the initialization state corresponding to the mobile module indicates that each mobile module in the mobile module is in a corresponding preset initial position.

[0035] S12, the host computer controls the motion chassis module to drive the nailing module to move to the current nailing position, and obtains nailing point position data based on the environmental information collected by the camera module.

[0036] In this embodiment, after the host computer obtains the current nailing position, the host computer will control the motion chassis module to drive the nailing module to move to the current nailing position. Among them, the nailing point is located at the current nailing position or near the current nailing position. In order to more accurately identify the nailing point, relevant nailing point marks have been made on the nailing point. The camera module will continuously scan the environmental information. The host computer obtains the environmental information collected by the camera module when the nailing module is located at the current nailing position. By identifying the corresponding nailing point mark in the environmental information, the nailing point position data corresponding to the current nailing position can be obtained, and then the host computer sends the nailing point position data to the underlying controller.

[0037] In one embodiment, step S12 includes:

[0038] The host computer controls the motion chassis module to drive the nailing module to move to the current nailing position;

[0039] The host computer identifies the current nailing point position according to the preset nailing point recognition strategy and the environmental information collected by the camera module;

[0040] If the host computer determines that the current nailing point position is within the preset working range, the current nailing point position is used as the target nailing point position;

[0041] The upper computer processes the target nailing point position to obtain the nailing point position data, and sends the nailing point position data to the bottom controller.

[0042] In this embodiment, first, the host computer controls the motion chassis module to drive the nailing module to move to the current nailing position. Then, the host computer obtains the environmental information collected by the camera module, and starts the recognition program corresponding to the nailing point recognition strategy to recognize the environmental information to identify the current nailing point position. If the host computer does not recognize the current nailing point position, it will wait for a period of time until the current nailing point position is recognized. If the host computer recognizes the current nailing point position, it will further determine whether the current nailing point position is within the preset working range, where the preset working range is the working range of the mobile module. If the host computer determines that the current nailing point position is within the preset working range, it means that the mobile module can drive the nailing module to move to the nailing point corresponding to the current nailing point position, and the current nailing point position is used as the target nailing point position. Finally, after the host computer obtains the target nailing point position, it is necessary to convert the target nailing point position into the control data required by the underlying controller, so the host computer performs data processing on the target nailing point position to obtain the nailing point position data, and sends the nailing point position data to the underlying controller.

[0043] In one embodiment, after the host computer identifies the current nailing point position according to the preset nailing point recognition strategy and the environmental information collected by the camera module, and before the host computer processes the target nailing point position to obtain the nailing point position data, and sends the nailing point position data to the bottom controller, it also includes:

[0044] If the host computer determines that the current nailing point position is not within the preset working range, it controls the motion chassis module to drive the mobile module and the nailing module to move according to the preset fine-tuning control strategy, and returns to execute the step in which the host computer identifies the current nailing point position according to the preset nailing point recognition strategy and the environmental information collected by the camera module.

[0045] In this embodiment, if the host computer determines that the current nailing point position is not within the preset working range, it means that the mobile module cannot move the nailing module to the nailing point corresponding to the current nailing point position. Wherein, the mobile module is arranged on the motion chassis module, and the nailing module is arranged on the mobile module. When the host computer determines that the current nailing point position is not within the preset working range, the host computer will clear the current nailing point position, and control the motion chassis module to fine-tune according to the preset fine-tuning control strategy, thereby driving the mobile module and the nailing module to perform fine-tuning, and return to execute the step of the host computer identifying the current nailing point position according to the preset nailing point recognition strategy and the environmental information collected by the camera module, so as to identify the current nailing point position within the preset working range, so as to make nailing more accurate and effectively ensure the quality of the nailing operation.

[0046] S13: If the bottom-level controller receives the nailing point position data, it controls the moving module and the nailing module to perform a nailing operation based on a preset nailing control strategy.

[0047] In this embodiment, after determining that the nailing module and the mobile module are reset to the corresponding initialization state, the bottom-level controller will wait for the nailing point position data sent by the host computer, and will keep waiting if it is not received. If the bottom-level controller receives the nailing point position data sent by the host computer, it will control the mobile module and the nailing module to perform the nailing operation through the preset nail removal control strategy, so that the nailing module automatically obtains the required nails, thereby improving the nailing efficiency.

[0048] In one embodiment, step S13 includes:

[0049] If the bottom-level controller receives the nailing point position data, it stores the nailing point position data and obtains the stored current nailing point position based on the nailing control strategy;

[0050] The bottom controller controls the moving module to drive the nailing module to move to the current nail removal point, and controls the nailing module to remove nails at the current nail removal point;

[0051] The bottom-level controller controls the mobile module to reset to a corresponding initialization state, and obtains a next nail-picking point position corresponding to the current nail-picking point position from a preset nail-picking point position set, and uses the next nail-picking point position to update the current nail-picking point position.

[0052] In this embodiment, if the bottom-level controller receives the nailing point position data sent by the upper computer, it will store the nailing point position data locally to facilitate the subsequent nailing operation. In addition, after storing the nailing point position data, the bottom-level controller obtains the stored current nailing point position through the nailing control strategy. If the current nailing position corresponding to the nailing point position data is the first nailing position, the current nailing point position is the first nailing point position in the preset nailing point position set; if the current nailing position corresponding to the nailing point position data is not the first nailing position, the current nailing point position is the nailing point position updated and saved by the bottom-level controller in the previous round of nailing operation. Among them, the nail picking point position set includes several nail picking point positions set in sequence. The nail picking point positions will be calibrated and recorded in advance. The bottom-level controller will loop from the first nail picking point position to the last nail picking point position in the nail picking point position set. The nail picking point position refers to the position where the nail is placed. The relevant personnel will place the nail at the corresponding position of the nailing robot. Specifically, the nailing robot is provided with a nail placement module, which is used to place several nails. The nail picking point position in the nail picking point position set refers to the position corresponding to the nail placement module. Then, the bottom-level controller controls the moving module to drive the nailing module to move to the current nail picking point position, and controls the nailing module to pick up the nail at the current nail picking point position, so that the nailing module adsorbs the nails placed corresponding to the current nail picking point position. After the nailing module completes the nail removal, the bottom-level controller controls the mobile module to reset to the corresponding initialization state, and obtains the next nail removal point position corresponding to the current nail removal point position from the preset nail removal point position set, and uses the next nail removal point position to update the current nail removal point position and store it, thereby completing this round of nail removal operation and updating the position information of the nail removal point for the next round of nail removal operation.

[0053] Further, in one embodiment, the moving module includes an X-axis moving module, a Y-axis moving module, and a Z-axis moving module. Among them, the bottom-level controller controls the moving module to drive the nailing module to move to the current nail removal point position, including: the bottom-level controller controls the Y-axis moving module, the X-axis moving module, and the Z-axis moving module to drive the nailing module to move in turn according to the current nail removal point position, so that the nailing module moves to the current nail removal point position. And, the bottom-level controller controls the moving module to reset to the corresponding initialization state, including: the bottom-level controller controls the Z-axis moving module, the X-axis moving module, and the Y-axis moving module to reset to the corresponding initialization state in turn, that is, the Z-axis moving module, the X-axis moving module, and the Y-axis moving module are reset to the corresponding initial positions in turn.

[0054] In one embodiment, after the bottom-level controller controls the mobile module to reset to a corresponding initialization state, and obtains a next nail picking point position corresponding to the current nail picking point position from a preset nail picking point position set, and uses the next nail picking point position to update the current nail picking point position, the intelligent control method of the nail driving robot provided by the embodiment of the present invention further includes:

[0055] The bottom-level controller obtains the sequence number value corresponding to the current nail picking point position, and sends the sequence number value to the upper computer;

[0056] The host computer receives the sequence number value, and then calculates the nail removal ratio according to the sequence number value and a preset nail removal ratio calculation strategy;

[0057] If the host computer determines that the nail removal ratio is equal to a preset ratio threshold, it generates nail patching prompt information.

[0058] In this embodiment, the nail picking point position set includes a number of nail picking point positions set in sequence, and the total number of nail picking point positions included in the nail picking point position set is set according to the number of positions where nails are placed. For example, the nail picking point position set includes n nail picking point positions set in sequence, which are the 1st nail picking point position to the nth nail picking point position. After controlling the moving module and the nailing module to complete this round of nail picking operation, the bottom-level controller will obtain the next nail picking point position corresponding to the current nail picking point position from the nail picking point position set to update the current nail picking point position. For example, if the current nail picking point position corresponding to this round of nail picking operation is the i-th nail picking point position in the nail picking point position set, then the next nail picking point position is the (i+1)th nail picking point position in the nail picking point position set, and the (i+1)th nail picking point position is used to update the current nail picking point position. After the bottom controller updates the current nail picking point position with the (i+1)th nail picking point position, that is, the current nail picking point position has been changed to the (i+1)th nail picking point position, the bottom controller obtains the sequence number value corresponding to the current nail picking point position, which is (i+1), and sends the sequence number value to the host computer so that the host computer can follow up the nail picking process. After the host computer receives the sequence number value, the nail picking ratio can be calculated by the sequence number value and the preset nail picking ratio calculation strategy, where the formula corresponding to the nail picking ratio calculation strategy is P=[(j-1)÷n]×100%, P is the nail picking ratio, j is the sequence number value (i.e., j= i+1), n ​​is the preset total number of nail picking points (i.e., the total number of nail picking point positions included in the nail picking point position set), and the value obtained by subtracting 1 from the sequence number value j represents the number of nail picking, and also indicates that (j-1) nails have been taken out of the n nails placed. If the host computer determines that the nail removal ratio is equal to the preset ratio threshold, it generates a nail patching prompt information to prompt the relevant personnel to replenish the nails in the position where the nails are placed in time. Among them, the ratio threshold can be set to 80%, 90%, etc., and the ratio threshold can be limited according to actual usage. It is not specifically limited here. In addition, the host computer can send the nail patching prompt information to the user terminal connected to the host computer for communication and display, so as to notify the relevant personnel in time on the user terminal; the host computer can also send the nail patching prompt information to the display module connected to the host computer for communication and display.

[0059] S14, the bottom-level controller controls the moving module to drive the nailing module to move to the nailing point corresponding to the nailing point position data, and controls the moving module and the nailing module to perform the nailing operation.

[0060] In this embodiment, after the bottom-level controller controls the moving module and the nailing module to complete the nailing operation, it will control the moving module to drive the nailing module to move to the nailing point corresponding to the nailing point position data. The nailing point is the position where nailing is required, such as the position on the cement fiber board in the modular box that needs to be connected to the bottom steel beam of the box with a self-tapping nail. After the nailing module reaches the nailing point corresponding to the nailing point position data, the bottom-level controller controls the moving module and the nailing module to perform the nailing operation, so that the nail on the nailing module is driven into the nailing point, thereby completing this round of nailing operation.

[0061] In one embodiment, see Figure 2 , step S14 comprises:

[0062] S141, the bottom-level controller controls the moving module to drive the nailing module to move according to the nailing point position data, and when detecting that the nail on the nailing module contacts the nailing point corresponding to the nailing point position data, starts the nailing module, controls the moving module to drive the nailing module to move so that the nail on the nailing module is driven into the nailing point corresponding to the nailing point position data;

[0063] S142: If the bottom-level controller receives the nailing completion signal sent by the nailing module, it controls the nailing module and the moving module to reset to corresponding initialization states, and transmits the nailing completion signal to the host computer.

[0064] In this embodiment, the bottom controller controls the mobile module to drive the nailing module to move according to the nailing point position data, so that the nailing module moves in the direction of the nailing point corresponding to the nailing point position data. When the bottom controller detects that the nail on the nailing module contacts the nailing point corresponding to the nailing point position data, it means that the mobile module drives the nailing module to move to the nailing point corresponding to the nailing point position data, and the bottom controller starts the nailing module, so that the impact screwdriver in the nailing module starts to rotate, and the bottom controller controls the mobile module to drive the nailing module to move vertically to the plane where the nailing point is located, so that the nail on the nailing module is completely driven into the nailing point. After the nail is driven into the nailing point, the nailing module will trigger a nailing completion signal and send the nailing completion signal to the bottom controller. If the bottom controller receives the nailing completion signal sent by the nailing module, it controls the nailing module and the mobile module to reset to the corresponding initialization state, and transmits the nailing completion signal to the host computer, so that the host computer judges that the current round of nailing operation process has been completed through the nailing completion signal, and can start the next round of nailing operation process.

[0065] In one embodiment, the moving module includes an X-axis moving module, a Y-axis moving module and a Z-axis moving module; the X-axis moving module is arranged on the Y-axis moving module, the Z-axis moving module is arranged on the X-axis moving module, and the nailing module is arranged on the Z-axis moving module. Step S141 includes:

[0066] The bottom controller controls the movement of the X-axis moving module and the Y-axis moving module according to the nailing point position data;

[0067] When the bottom-level controller detects the corresponding in-position interrupt signal during the movement of the X-axis moving module and the Y-axis moving module, it controls the Z-axis moving module to drive the nailing module to descend according to a preset descent height value, and when it is determined that the descent height of the Z-axis moving module is equal to the preset descent height value, starts the nailing module, controls the Z-axis moving module to drive the nailing module to descend so that the nails on the nailing module are driven into the nailing points corresponding to the nailing point position data.

[0068] In this embodiment, the nailing point corresponding to the nailing point position data is on the horizontal ground, and the nailing robot can automatically complete the nailing task at different nailing points on the horizontal ground. The bottom controller controls the movement of the X-axis moving module and the Y-axis moving module according to the nailing point position data, drives the Z-axis moving module to move through the X-axis moving module and the Y-axis moving module, and then drives the nailing module to move, so that the nail on the nailing module is on the same vertical line as the nailing point. The bottom controller does not detect the corresponding in-place interrupt signal during the movement of the X-axis moving module and the Y-axis moving module, indicating that the X-axis moving module and the Y-axis moving module have not moved to the position, and will continue to wait. The bottom controller detects the corresponding in-place interrupt signal during the movement of the X-axis moving module and the Y-axis moving module, indicating that the X-axis moving module and the Y-axis moving module have moved to the position, and the nail on the nailing module is on the same vertical line as the nailing point. The bottom controller starts to control the Z-axis moving module to drive the nailing module to descend according to the preset descending height value, so that the nail on the nailing module contacts the nailing point corresponding to the nailing point position data. Among them, the length of the nail is a fixed value, so the descending height of the Z-axis moving module when the nail reaches the ground is also a fixed value, that is, the preset descending height value can be set according to the length of the nail. The bottom-level controller determines that the descending height of the Z-axis moving module is equal to the preset descending height value, indicating that the nail on the nailing module has contacted the nailing point corresponding to the nailing point position data, and then starts to start the nailing module, so that the impact screwdriver in the nailing module starts to rotate, and at the same time controls the Z-axis moving module to drive the nailing module to descend slowly, so as to drive the nail on the nailing module into the nailing point.

[0069] In one embodiment, the bottom controller detects a corresponding in-position interrupt signal during the movement of the X-axis moving module and the Y-axis moving module, controls the Z-axis moving module to drive the nailing module to descend according to a preset descending height value, and starts the nailing module when it is determined that the descending height of the Z-axis moving module is equal to the preset descending height value, controls the Z-axis moving module to drive the nailing module to descend so that the nails on the nailing module are driven into the nailing points corresponding to the nailing point position data, including:

[0070] When the bottom controller detects the corresponding in-position interrupt signal during the movement of the X-axis moving module and the Y-axis moving module, it controls the Z-axis moving module to drive the nailing module to descend, and starts the timer to count down according to the count value corresponding to the preset descending height value;

[0071] If the bottom-level controller detects an interrupt signal triggered when the timer countdown is completed, it starts the nailing module and controls the Z-axis moving module to drive the nailing module down so that the nails on the nailing module are driven into the nailing points corresponding to the nailing point position data.

[0072] In this embodiment, the bottom controller detects the corresponding in-position interrupt signal during the movement of the X-axis moving module and the Y-axis moving module, indicating that the X-axis moving module and the Y-axis moving module have both moved to their positions. At this time, the nail on the nailing module is on the same vertical line as the nailing point. The bottom controller then starts to control the Z-axis moving module to drive the nailing module to descend according to the preset descending height value, so that the nail on the nailing module contacts the nailing point corresponding to the nailing point position data. Since the descending stroke of the Z-axis moving module when the nail just contacts the nailing point is the preset descending height value, when the bottom controller controls the Z-axis moving module to descend, it simultaneously obtains the count value corresponding to the preset descending height value as the count data required by the timer, and starts the internal timer to count down. When the timer countdown is completed, an interrupt signal is triggered, thereby judging that the descending height of the Z-axis moving module is equal to the preset descending height value, and the nail contacts the nailing point. Therefore, if the bottom controller detects the interrupt signal triggered when the timer countdown is completed, it starts the nailing module and controls the Z-axis moving module to drive the nailing module to descend slowly, thereby driving the nail on the nailing module into the nailing point.

[0073] In one embodiment, the mobile module includes a steering gear, an X-axis mobile module, a Y-axis mobile module and a Z-axis mobile module; the two ends of the X-axis mobile module are respectively provided with a steering gear, the X-axis mobile module is provided on the Y-axis mobile module, the Z-axis mobile module is provided on the X-axis mobile module, and the nailing module is provided on the Z-axis mobile module. Step S141 includes:

[0074] The bottom controller controls the steering gear to drive the X-axis moving module to rotate, so that the Z-axis moving module and the nailing module rotate to be parallel to the Y-axis moving module;

[0075] The bottom controller controls the movement of the X-axis moving module according to the nailing point position data;

[0076] When the underlying controller detects a corresponding in-position interrupt signal during the movement of the X-axis moving module, it controls the Z-axis moving module to drive the nailing module to move according to a preset moving distance value, and when it is determined that the moving distance of the Z-axis moving module is equal to the preset moving distance value, starts the nailing module, controls the Z-axis moving module to drive the nailing module to move so that the nail on the nailing module is driven into the nailing point corresponding to the nailing point position data.

[0077] In this embodiment, the nailing point corresponding to the nailing point position data is on a wall perpendicular to the horizontal ground, and the nailing robot can automatically complete the nailing task of different nailing points located at a certain height of the wall. Specifically, the bottom controller first controls the servo to drive the X-axis moving module to rotate, thereby driving the Z-axis moving module and the nailing module to rotate, until the Z-axis moving module and the nailing module are parallel to the Y-axis moving module, and the nailing module is perpendicular to the wall. Then, the bottom controller controls the movement of the X-axis moving module according to the nailing point position data, and then drives the nailing module to move, so that the nail on the nailing module is on the same horizontal line as the nailing point. The bottom controller detects the corresponding in-place interrupt signal during the movement of the X-axis moving module, indicating that the nail on the nailing module is on the same horizontal line as the nailing point at this time, then controls the Z-axis moving module according to the preset moving distance value to drive the nailing module to move horizontally in a straight line in the direction close to the corresponding nailing point, so that the nail on the nailing module contacts the nailing point corresponding to the nailing point position data. When the underlying controller determines that the moving distance of the Z-axis moving module is equal to the preset moving distance value, it means that it is determined that the nail on the nailing module contacts the nailing point corresponding to the nailing point position data, and then the nailing module is started to make the impact driver in the nailing module start to rotate, and at the same time, the Z-axis moving module is controlled to drive the nailing module to move, so that the nail on the nailing module is driven into the nailing point corresponding to the nailing point position data.

[0078] In one embodiment, the nailing robot is arranged on a lifting platform; the mobile module includes a steering gear, an X-axis mobile module, a Y-axis mobile module and a Z-axis mobile module; a steering gear is arranged at each end of the X-axis mobile module, the X-axis mobile module is arranged on the Y-axis mobile module, the Z-axis mobile module is arranged on the X-axis mobile module, and the nailing module is arranged on the Z-axis mobile module. Step S14 includes:

[0079] The bottom controller controls the steering gear to drive the X-axis moving module to rotate, so that the Z-axis moving module and the nailing module rotate to be parallel to the Y-axis moving module;

[0080] The bottom controller controls the movement of the X-axis moving module and the lifting platform according to the nailing point position data, and controls the movement of the Z-axis moving module, so that the nails on the nailing module contact the nailing points corresponding to the nailing point position data;

[0081] When the bottom controller detects that the nail on the nailing module contacts the nailing point corresponding to the nailing point position data, the bottom controller starts the nailing module and controls the Z-axis moving module to drive the nailing module to move so that the nail on the nailing module is driven into the nailing point corresponding to the nailing point position data;

[0082] If the bottom-level controller receives the nailing completion signal sent by the nailing module, it controls the nailing module, the moving module and the lifting platform to reset to corresponding initialization states, and transmits the nailing completion signal to the host computer.

[0083] In this embodiment, the nailing point corresponding to the nailing point position data is on a wall that is perpendicular to the horizontal ground, and the nailing robot can automatically complete the nailing tasks of different nailing points located at different heights on the wall. Specifically, the bottom-level controller first controls the servo to drive the X-axis moving module to rotate, thereby driving the Z-axis moving module and the nailing module to rotate, until the Z-axis moving module and the nailing module are parallel to the Y-axis moving module, and the nailing module is perpendicular to the wall. Then, the bottom-level controller controls the movement of the X-axis moving module and the lifting platform according to the nailing point position data, and adjusts the height of the nailing module through the lifting platform so that the nails on the nailing module are on the same horizontal line as the nailing point, and then controls the Z-axis moving module to drive the nailing module to move horizontally in a straight line in the direction close to the corresponding nailing point, so that the nails on the nailing module contact the nailing point corresponding to the nailing point position data. When the bottom-level controller detects that the nail on the nailing module contacts the nailing point corresponding to the nailing point position data, it starts the nailing module and controls the Z-axis moving module to drive the nailing module to move, so that the nail on the nailing module is driven into the nailing point corresponding to the nailing point position data. If the bottom-level controller receives a nailing completion signal sent by the nailing module, indicating that the nail on the nailing module has been driven into the corresponding nailing point, it controls the nailing module, the moving module and the lifting platform to reset to the corresponding initialization state, and transmits the nailing completion signal to the upper computer, so that the upper computer determines that the current round of nailing operation process has been completed through the nailing completion signal, and can start the next round of nailing operation process.

[0084] S15. If the upper computer receives a nailing completion signal transmitted by the bottom-level controller, it obtains the next nailing position according to the nailing completion signal and the drawing information, and when it is determined that the next nailing position is a non-empty set, it uses the next nailing position to update the current nailing position, and returns to execute step S12.

[0085] In this embodiment, if the upper computer receives a nailing completion signal transmitted by the bottom controller, it will obtain the next nailing position according to the nailing completion signal and the drawing information, and determine whether the next nailing position is a non-empty set. If the upper computer determines that the next nailing position is a non-empty set, it means that the drawing information contains nailing positions that have not been obtained by the upper computer, that is, the position corresponding to the next nailing position has not been nailed, then the current nailing position will be updated with the next nailing position, and the execution of step S12 will be returned to perform the next round of nailing operation process. If the upper computer determines that the next nailing position is an empty set, it means that all nailing positions contained in the drawing information have been obtained by the upper computer, and nailing has been completed at the corresponding positions, then the control process ends, and the nailing robot ends this continuous nailing operation process. Moreover, in the intelligent control method of the nailing robot provided in the embodiment of the present invention, the computing and processing capabilities of the upper computer are stronger than those of the underlying controller. The upper computer is mainly used to collect environmental information and process the information, and the underlying controller is mainly used to send execution instructions to the mobile module and the nailing module according to the data sent by the upper computer. Through different levels of control and management, it is beneficial to improve the safety and nailing efficiency of the nailing robot.

[0086] In one embodiment, after the upper computer receives the nailing completion signal transmitted by the bottom controller, the process further includes:

[0087] The host computer obtains the nailing completion image collected by the camera module, and performs image recognition on the nailing completion image to obtain a nailing detection result;

[0088] If the host computer determines that the nailing detection result is a nailing failure result, it generates a nailing failure prompt message.

[0089] In this embodiment, after receiving the nailing completion signal transmitted by the bottom-level controller, the upper computer will obtain the nailing completion image captured by the camera module, and perform image recognition on the nailing completion image to identify whether the nail in the nailing completion image has been driven into the corresponding nailing point, thereby obtaining the nailing detection result. Among them, the nailing detection result is a nailing success result or a nailing failure result. The nailing success result is used to indicate that the nail in the nailing completion image has been successfully driven into the corresponding nailing point, and the nail is successfully driven into the corresponding nailing point in this round of nailing operation process. The nailing failure result is used to indicate that the nail in the nailing completion image has not been driven into the corresponding nailing point. For example, in this round of nailing operation process, after the bottom-level controller controls the moving module and the nailing module to complete the nail removal operation, the nail on the nailing module accidentally falls off due to unexpected factors. Although the bottom-level controller will continue to control the moving module and the nailing module to complete the nailing operation, the nail is not driven into the corresponding nailing point. If the upper computer determines that the nailing detection result is a nailing failure result, it generates a nailing failure prompt message to notify relevant personnel through the nailing failure prompt message, so that the relevant personnel can make corresponding processing in time, which is conducive to ensuring the quality of the nailing operation.

[0090] In one embodiment, after the upper computer receives the nailing completion signal transmitted by the bottom controller, the process further includes:

[0091] The host computer obtains the current cumulative number corresponding to the nailing completion signal, and uses the current cumulative number as the current nailing number;

[0092] The host computer obtains the total number of nailing positions according to the drawing information, and uses the total number of nailing positions as the total number of nailing positions;

[0093] The host computer generates nailing process data according to the current nailing number and the total number of nails, and sends the nailing process data to a display module that is communicatively connected to the host computer for display.

[0094] In this embodiment, the host computer will accumulate and record the number of nailing completion signals received to determine the number of completed nailing. The host computer obtains the current cumulative number corresponding to the nailing completion signal as the current number of nailing, and obtains the total number of nailing positions as the total number of nailing. Among them, the total number of nailing positions is the total number of nailing positions contained in the drawing information. The host computer generates nailing process data based on the current number of nailing and the total number of nailing, and sends the nailing process data to the display module for display. The display module generates a nailing process graph based on the nailing process data, and displays the nailing process graph on the GUI interface (Graphical User Interface), so that relevant personnel can understand the current nailing progress in a timely and clear manner.

[0095] The intelligent control method of the nailing robot provided in the embodiment of the present invention controls the motion chassis module, the mobile module and the nailing module based on the upper computer and the underlying controller, so that the nailing robot can realize continuous, autonomous and efficient nailing, which is conducive to the high-efficiency and automated production of modular boxes in modular buildings, and changes the traditional method of manually holding an impact screwdriver to perform nailing operations, which can significantly reduce the labor intensity of workers and is not limited by construction time. It has significant advantages in long-term operations and emergency operations, realizes the control of standardized nailing processes, solves the problem of subjectivity in evaluating nailing effects due to manual experience, and effectively guarantees the quality of nailing operations.

[0096] The embodiment of the present invention further provides a nail driving robot, which is used to execute any embodiment of the intelligent control method of the nail driving robot described above. Figure 3 , Figure 3 The present invention is a schematic block diagram of a nailing robot provided in an embodiment of the present invention. The nailing robot provided in an embodiment of the present invention includes a host computer 10, a bottom-level controller 11, a camera module 12, a motion chassis module 13, a mobile module 14 and a nailing module 15. The host computer 10 is communicatively connected with the bottom-level controller 11, the camera module 12 and the motion chassis module 13, and the bottom-level controller 11 is communicatively connected with the mobile module 14 and the nailing module 15. The host computer 10, the bottom-level controller 11 and the mobile module 14 can be arranged on the motion chassis module 13, the nailing module 15 can be arranged on the mobile module 14, and the camera module 12 can be arranged on the nailing module 15, so that the host computer 10, the bottom-level controller 11, the camera module 12, the mobile module 14 and the nailing module 15 are carried by the motion chassis module 13.

[0097] The host computer 10 is used to obtain the current nailing position according to the stored drawing information;

[0098] The host computer 10 is further used to control the moving chassis module 13 to drive the nailing module 15 to move to the current nailing position, and obtain nailing point position data based on the environmental information collected by the camera module 12;

[0099] The bottom controller 11 is used to control the moving module 14 and the nailing module 15 to perform a nail removal operation based on a preset nail removal control strategy if the nailing point position data is received;

[0100] The bottom controller 11 is further used to control the moving module 14 to drive the nailing module 15 to move to the nailing point corresponding to the nailing point position data, and control the moving module 14 and the nailing module 15 to perform the nailing operation;

[0101] The host computer 10 is also used to, if receiving a nailing completion signal transmitted by the bottom-level controller 11, obtain the next nailing position according to the nailing completion signal and the drawing information, and when determining that the next nailing position is a non-empty set, use the next nailing position to update the current nailing position, return to execute the step of the host computer 10 controlling the motion chassis module 13 to drive the nailing module 15 to move to the current nailing position, and obtain the nailing point position data based on the environmental information collected by the camera module 12.

[0102] In one embodiment, before the host computer 10 executes the step of obtaining the current nailing position according to the stored drawing information, the process further includes:

[0103] The host computer 10 is also used to initialize and start the camera module 12;

[0104] The bottom-level controller 11 is also used to initialize and control the nailing module 15 and the moving module 14 to reset to corresponding initialization states.

[0105] In one embodiment, when the host computer 10 executes the step of controlling the moving chassis module 13 to drive the nailing module 15 to move to the current nailing position, and obtaining nailing point position data based on the environmental information collected by the camera module 12, it specifically includes:

[0106] The host computer 10 is also used to control the moving chassis module 13 to drive the nailing module 15 to move to the current nailing position;

[0107] The host computer 10 is also used to identify the current nailing point position according to the preset nailing point recognition strategy and the environmental information collected by the camera module 12;

[0108] The host computer 10 is further configured to use the current nailing point position as the target nailing point position if it is determined that the current nailing point position is within a preset working range;

[0109] The upper computer 10 is further used to process the target nailing point position to obtain the nailing point position data, and send the nailing point position data to the bottom controller 11 .

[0110] In one embodiment, after the host computer 10 executes the step of identifying the current nailing point position according to the preset nailing point recognition strategy and the environmental information collected by the camera module 12, and before the host computer 10 executes the step of performing data processing on the target nailing point position to obtain the nailing point position data, and sending the nailing point position data to the bottom controller 11, it also includes:

[0111] The host computer 10 is also used to control the motion chassis module 13 to drive the mobile module 14 and the nailing module 15 to move according to the preset fine-tuning control strategy if it is determined that the current nailing point position is not within the preset working range, and return to execute the step in which the host computer 10 identifies the current nailing point position according to the preset nailing point recognition strategy and the environmental information collected by the camera module 12.

[0112] In one embodiment, when the bottom controller 11 executes the step of controlling the moving module 14 and the nailing module 15 to perform the nail removal operation step based on the preset nail removal control strategy if the nailing point position data is received, it specifically includes:

[0113] The bottom-level controller 11 is further configured to store the nailing point position data if the nailing point position data is received, and obtain the stored current nailing point position based on the nailing control strategy;

[0114] The bottom controller 11 is also used to control the moving module 14 to drive the nailing module 15 to move to the current nail removal point, and control the nailing module 15 to remove nails at the current nail removal point;

[0115] The bottom-level controller 11 is also used to control the mobile module 14 to reset to a corresponding initialization state, and obtain a next nail picking point position corresponding to the current nail picking point position from a preset nail picking point position set, and use the next nail picking point position to update the current nail picking point position.

[0116] In one embodiment, after the bottom-level controller 11 executes the step of controlling the mobile module 14 to reset to a corresponding initialization state, and acquiring a next nail picking point position corresponding to the current nail picking point position from a preset nail picking point position set, and updating the current nail picking point position by using the next nail picking point position, the method further includes:

[0117] The bottom controller 11 is further used to obtain the serial number value corresponding to the current nail picking point position and send the serial number value to the upper computer 10;

[0118] The host computer 10 is further configured to receive the sequence number value, and then calculate the nail removal ratio according to the sequence number value and a preset nail removal ratio calculation strategy;

[0119] The host computer 10 is further configured to generate a prompt message for patching if it is determined that the percentage of removed nails is equal to a preset percentage threshold.

[0120] In one embodiment, when the bottom controller 11 executes the control of the moving module 14 to drive the nailing module 15 to move to the nailing point corresponding to the nailing point position data, and controls the moving module 14 and the nailing module 15 to perform the nailing operation steps, it specifically includes:

[0121] The bottom controller 11 is further used to control the moving module 14 to drive the nailing module 15 to move according to the nailing point position data, and when it is detected that the nail on the nailing module 15 contacts the nailing point corresponding to the nailing point position data, start the nailing module 15, and control the moving module 14 to drive the nailing module 15 to move so that the nail on the nailing module 15 is driven into the nailing point corresponding to the nailing point position data;

[0122] The bottom controller 11 is further configured to control the nailing module 15 and the moving module 14 to reset to corresponding initialization states upon receiving the nailing completion signal sent by the nailing module 15 , and transmit the nailing completion signal to the host computer 10 .

[0123] In one embodiment, the mobile module 14 includes an X-axis mobile module, a Y-axis mobile module and a Z-axis mobile module; the X-axis mobile module is arranged on the Y-axis mobile module, the Z-axis mobile module is arranged on the X-axis mobile module, and the nailing module 15 is arranged on the Z-axis mobile module. When the bottom-level controller 11 executes the steps of controlling the mobile module 14 to drive the nailing module 15 to move according to the nailing point position data, and starting the nailing module 15 when it is detected that the nail on the nailing module 15 contacts the nailing point corresponding to the nailing point position data, and controlling the mobile module 14 to drive the nailing module 15 to move so that the nail on the nailing module 15 is driven into the nailing point corresponding to the nailing point position data, it specifically includes:

[0124] The bottom controller 11 is also used to control the movement of the X-axis moving module and the Y-axis moving module according to the nailing point position data;

[0125] The bottom-level controller 11 is also used for detecting corresponding in-place interrupt signals during the movement of the X-axis moving module and the Y-axis moving module, and then controlling the Z-axis moving module to drive the nailing module 15 to descend according to a preset descent height value, and when it is determined that the descent height of the Z-axis moving module is equal to the preset descent height value, starting the nailing module 15, controlling the Z-axis moving module to drive the nailing module 15 to descend so that the nails on the nailing module 15 are driven into the nailing points corresponding to the nailing point position data.

[0126] In one embodiment, when the bottom controller 11 executes the steps of detecting the corresponding in-position interrupt signal during the movement of the X-axis moving module and the Y-axis moving module, controlling the Z-axis moving module to drive the nailing module 15 to descend according to a preset descending height value, and starting the nailing module 15 when it is determined that the descending height of the Z-axis moving module is equal to the preset descending height value, and controlling the Z-axis moving module to drive the nailing module 15 to descend so that the nails on the nailing module 15 are driven into the nailing points corresponding to the nailing point position data, the steps specifically include:

[0127] The bottom controller 11 is also used for detecting a corresponding in-position interrupt signal during the movement of the X-axis moving module and the Y-axis moving module, controlling the Z-axis moving module to drive the nailing module 15 to descend, and starting a timer to count down according to a count value corresponding to the preset descending height value;

[0128] The bottom-level controller 11 is also used to start the nailing module 15 if an interrupt signal triggered when the timer countdown is completed is detected, and control the Z-axis moving module to drive the nailing module 15 to descend so that the nails on the nailing module 15 are driven into the nailing points corresponding to the nailing point position data.

[0129] In one embodiment, the mobile module 14 includes a servo, an X-axis mobile module, a Y-axis mobile module and a Z-axis mobile module; one servo is provided at each end of the X-axis mobile module, the X-axis mobile module is provided on the Y-axis mobile module, the Z-axis mobile module is provided on the X-axis mobile module, and the nailing module 15 is provided on the Z-axis mobile module. When the bottom-level controller 11 executes the steps of controlling the mobile module 14 to drive the nailing module 15 to move according to the nailing point position data, and starting the nailing module 15 when it is detected that the nail on the nailing module 15 contacts the nailing point corresponding to the nailing point position data, and controlling the mobile module 14 to drive the nailing module 15 to move so that the nail on the nailing module 15 is driven into the nailing point corresponding to the nailing point position data, it specifically includes:

[0130] The bottom controller 11 is also used to control the steering gear to drive the X-axis moving module to rotate, so that the Z-axis moving module and the nailing module 15 rotate to be parallel to the Y-axis moving module;

[0131] The bottom controller 11 is also used to control the movement of the X-axis moving module according to the nailing point position data;

[0132] The bottom-level controller 11 is also used to detect a corresponding in-place interrupt signal during the movement of the X-axis moving module, and then control the Z-axis moving module to drive the nailing module 15 to move according to a preset moving distance value, and when it is determined that the moving distance of the Z-axis moving module is equal to the preset moving distance value, start the nailing module 15, control the Z-axis moving module to drive the nailing module 15 to move so that the nail on the nailing module 15 is driven into the nailing point corresponding to the nailing point position data.

[0133] In one embodiment, the nailing robot is arranged on a lifting platform; the mobile module 14 includes a servo, an X-axis mobile module, a Y-axis mobile module and a Z-axis mobile module; one servo is arranged at each end of the X-axis mobile module, the X-axis mobile module is arranged on the Y-axis mobile module, the Z-axis mobile module is arranged on the X-axis mobile module, and the nailing module 15 is arranged on the Z-axis mobile module. When the bottom-level controller 11 executes the control of the mobile module 14 to drive the nailing module 15 to move to the nailing point corresponding to the nailing point position data, and controls the mobile module 14 and the nailing module 15 to perform the nailing operation steps, it specifically includes:

[0134] The bottom controller 11 is also used to control the steering gear to drive the X-axis moving module to rotate, so that the Z-axis moving module and the nailing module 15 rotate to be parallel to the Y-axis moving module;

[0135] The bottom controller 11 is also used to control the movement of the X-axis moving module and the lifting platform according to the nailing point position data, and control the movement of the Z-axis moving module, so that the nails on the nailing module 15 contact the nailing points corresponding to the nailing point position data;

[0136] The bottom controller 11 is further used to start the nailing module 15 when it is detected that the nail on the nailing module 15 contacts the nailing point corresponding to the nailing point position data, and control the Z-axis moving module to drive the nailing module 15 to move so that the nail on the nailing module 15 is driven into the nailing point corresponding to the nailing point position data;

[0137] The bottom controller 11 is also used to control the nailing module 15, the moving module 14 and the lifting platform to reset to the corresponding initialization state if the nailing completion signal sent by the nailing module 15 is received, and transmit the nailing completion signal to the host computer 10.

[0138] In one embodiment, after the upper computer 10 executes the step of receiving the nailing completion signal transmitted by the bottom controller 11, the process further includes:

[0139] The host computer 10 is further used to obtain the nailing completion image captured by the camera module 12, and perform image recognition on the nailing completion image to obtain a nailing detection result;

[0140] The host computer 10 is further configured to generate a nailing failure prompt message if it is determined that the nailing detection result is a nailing failure result.

[0141] In one embodiment, after the upper computer 10 executes the step of receiving the nailing completion signal transmitted by the bottom controller 11, the process further includes:

[0142] The host computer 10 is further used to obtain the current cumulative number corresponding to the nailing completion signal, and use the current cumulative number as the current nailing number;

[0143] The host computer 10 is further used to obtain the total number of nailing positions according to the drawing information, and use the total number of nailing positions as the total number of nailing positions;

[0144] The host computer 10 is further used to generate nailing process data according to the current nailing number and the total number of nails, and send the nailing process data to a display module that is communicatively connected to the host computer 10 for display.

[0145] The nailing robot provided in the embodiment of the present invention is used to execute the intelligent control method of the nailing robot provided in any of the aforementioned embodiments. Based on the upper computer 10 and the underlying controller 11, the motion chassis module 13, the mobile module 14 and the nailing module 15 are controlled, so that the nailing robot can realize continuous, autonomous and efficient nailing, which is conducive to the efficient and automated production of modular boxes in modular buildings, and changes the traditional method of manually holding an impact screwdriver for nailing operations. It can significantly reduce the labor intensity of workers and is not restricted by construction time. It has significant advantages in long-term operations and emergency operations, realizes the control of standardized nailing processes, solves the problem of subjectivity in evaluating nailing effects due to manual experience, and effectively guarantees the quality of nailing operations.

[0146] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An intelligent control method for a nailing robot, characterized in that: Applied to a nailing robot, the nailing robot includes a host computer, a bottom-level controller, a camera module, a motion chassis module, a mobile module and a nailing module, the host computer is communicatively connected with the bottom-level controller, the camera module and the motion chassis module, and the bottom-level controller is communicatively connected with the mobile module and the nailing module; The method comprises: The host computer obtains the current nailing position according to the stored drawing information; The host computer controls the motion chassis module to drive the nailing module to move to the current nailing position, and obtains nailing point position data based on the environmental information collected by the camera module; If the bottom-level controller receives the nailing point position data, it controls the moving module and the nailing module to perform a nailing operation based on a preset nail removal control strategy; The bottom-level controller controls the moving module to drive the nailing module to move to the nailing point corresponding to the nailing point position data, and controls the moving module and the nailing module to perform the nailing operation; If the upper computer receives the nailing completion signal transmitted by the bottom controller, the next nailing position is obtained according to the nailing completion signal and the drawing information, and when it is determined that the next nailing position is a non-empty set, the current nailing position is updated using the next nailing position, and the upper computer returns to execute the step of controlling the motion chassis module to drive the nailing module to move to the current nailing position, and obtaining the nailing point position data based on the environmental information collected by the camera module; The host computer controls the motion chassis module to drive the nailing module to move to the current nailing position, and obtains nailing point position data based on the environmental information collected by the camera module, including: The host computer controls the motion chassis module to drive the nailing module to move to the current nailing position; The host computer identifies the current nailing point position according to the preset nailing point recognition strategy and the environmental information collected by the camera module; If the host computer determines that the current nailing point position is within the preset working range, the current nailing point position is used as the target nailing point position; The upper computer processes the target nailing point position to obtain the nailing point position data, and sends the nailing point position data to the bottom controller; After the host computer identifies the current nailing point position according to the preset nailing point recognition strategy and the environmental information collected by the camera module, and before the host computer processes the target nailing point position to obtain the nailing point position data, and sends the nailing point position data to the bottom controller, it also includes: If the host computer determines that the current nailing point position is not within the preset working range, the motion chassis module is controlled to drive the mobile module and the nailing module to move according to the preset fine-tuning control strategy, and the host computer returns to execute the step of identifying the current nailing point position according to the preset nailing point recognition strategy and the environmental information collected by the camera module; If the bottom-level controller receives the nailing point position data, it controls the moving module and the nailing module to perform a nailing operation based on a preset nailing control strategy, including: If the bottom-level controller receives the nailing point position data, it stores the nailing point position data and obtains the stored current nailing point position based on the nailing control strategy; The bottom controller controls the moving module to drive the nailing module to move to the current nail removal point, and controls the nailing module to remove nails at the current nail removal point; The bottom-level controller controls the mobile module to reset to a corresponding initialization state, and obtains a next nail-picking point position corresponding to the current nail-picking point position from a preset nail-picking point position set, and updates the current nail-picking point position with the next nail-picking point position; The bottom-level controller controls the moving module to drive the nailing module to move to the nailing point corresponding to the nailing point position data, and controls the moving module and the nailing module to perform the nailing operation, including: The bottom-level controller controls the moving module to drive the nailing module to move according to the nailing point position data, and when detecting that the nail on the nailing module contacts the nailing point corresponding to the nailing point position data, starts the nailing module, controls the moving module to drive the nailing module to move so that the nail on the nailing module is driven into the nailing point corresponding to the nailing point position data; If the bottom controller receives the nailing completion signal sent by the nailing module, it controls the nailing module and the moving module to reset to the corresponding initialization state, and transmits the nailing completion signal to the host computer; The moving module includes an X-axis moving module, a Y-axis moving module and a Z-axis moving module; the X-axis moving module is arranged on the Y-axis moving module, the Z-axis moving module is arranged on the X-axis moving module, and the nailing module is arranged on the Z-axis moving module; The bottom-level controller controls the moving module to drive the nailing module to move according to the nailing point position data, and when detecting that the nail on the nailing module contacts the nailing point corresponding to the nailing point position data, starts the nailing module, controls the moving module to drive the nailing module to move so that the nail on the nailing module is driven into the nailing point corresponding to the nailing point position data, including: The bottom controller controls the movement of the X-axis moving module and the Y-axis moving module according to the nailing point position data; The bottom controller detects the corresponding in-position interrupt signal during the movement of the X-axis moving module and the Y-axis moving module, and controls the Z-axis moving module to drive the nailing module to descend according to the preset descending height value, and when it is determined that the descending height of the Z-axis moving module is equal to the preset descending height value, starts the nailing module, controls the Z-axis moving module to drive the nailing module to descend so that the nails on the nailing module are driven into the nailing points corresponding to the nailing point position data; The bottom controller detects the corresponding in-position interrupt signal during the movement of the X-axis moving module and the Y-axis moving module, controls the Z-axis moving module to drive the nailing module to descend according to the preset descending height value, and starts the nailing module when it is determined that the descending height of the Z-axis moving module is equal to the preset descending height value, controls the Z-axis moving module to drive the nailing module to descend so that the nails on the nailing module are driven into the nailing points corresponding to the nailing point position data, including: When the bottom controller detects the corresponding in-position interrupt signal during the movement of the X-axis moving module and the Y-axis moving module, it controls the Z-axis moving module to drive the nailing module to descend, and starts the timer to count down according to the count value corresponding to the preset descending height value; If the bottom-level controller detects an interrupt signal triggered when the timer countdown is completed, it starts the nailing module and controls the Z-axis moving module to drive the nailing module down so that the nails on the nailing module are driven into the nailing points corresponding to the nailing point position data.

2. The intelligent control method of the nailing robot according to claim 1, characterized in that: Before the host computer obtains the current nailing position according to the stored drawing information, it also includes: The host computer initializes and starts the camera module; The bottom-level controller initializes and controls the nailing module and the moving module to reset to corresponding initialization states.

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