Intelligent mounting equipment of lamp and control method of intelligent mounting equipment

Abstract

The invention relates to intelligent mounting equipment of a lamp and a control method thereof, and belongs to the field of lamp mounting equipment. The intelligent mounting equipment for the lamp comprises a base, a first mechanical arm, a second mechanical arm, a drilling machine, a first clamp, a second clamp and three cameras. And a processor is arranged in the base. The processor controls the second mechanical arm to be matched with the first mechanical arm to control the bolt to be matched with the mounting hole to fix the lamp, in the operation process, the visual system is accurately aligned to the drilling position of the drilling machine, the second mechanical arm is matched with the first mechanical arm to take the lamp to be matched with the bolt for assembly, and the lamp can be fixed even in a complex environment. And the problems that when an existing device works in a complex environment, precise positioning during lamp installation and standard drilling of a drill bit cannot be guaranteed are solved.

Description

Technical Field

[0001] The present application relates to the field of lamp installation equipment, and in particular to an intelligent lamp installation equipment and a control method thereof. Background Art

[0002] With the acceleration of urbanization and the improvement of living standards, the building decoration and facility installation industries are facing growing demands, especially in the field of lighting installation, which requires positioning and drilling on walls or ceilings.

[0003] The existing positioning drilling and lighting installation are basically completed by manually operated drilling and lighting installation equipment. All operations of these devices require real-time manual operation of the operating lever. In the operation of high altitude, dark and complex space, the operator needs to enter the installation environment with the equipment. Errors are prone to occur during the operation, which also increases safety hazards. In addition, it is often impossible to ensure accurate positioning of the lamp installation and standard drilling of the drill bit. In order to ensure that the holes are qualified, the drill bit needs to be moved repeatedly for drilling, which is easy to damage the drilled holes, thereby affecting the installation effect and service life of the lamp. Therefore, it is difficult to meet the installation requirements in complex environments. Summary of the invention

[0004] The present invention provides an intelligent installation device for a lamp and a control method thereof to solve the problem that the existing positioning and drilling equipment cannot ensure accurate positioning of the lamp during installation and standardized drilling of the drill bit when working in a complex environment.

[0005] The present invention provides an intelligent installation device for a lamp, which includes: a base, a first mechanical arm, a second mechanical arm, a drilling rig, a first clamp, a second clamp and three cameras. A processor is arranged inside the base. The first mechanical arm and the second mechanical arm are mounted on the base. An encoder for collecting the number of rotations of the drill bit of the drilling rig is arranged inside the drilling rig, and the drilling rig can be detachably mounted on the mechanical interface of the first mechanical arm through a third connecting member. The first clamp can be detachably mounted on the mechanical interface of the first mechanical arm through the first connecting member. The second clamp can be detachably mounted on the mechanical interface of the second mechanical arm through the second connecting member. The three cameras are respectively mounted on the first connecting member, the second connecting member and the third connecting member.

[0006] The processor is configured as:

[0007] Determine the position of the lamp according to the image of the lamp taken by the camera on the second connecting member, and control the second clamp to grab the lamp through the second mechanical arm according to the position of the lamp;

[0008] The drilling position is determined according to the drilling image captured by the camera on the third connecting member, and the drilling machine is controlled by the first mechanical arm to drill at the drilling position to form a mounting hole. During the drilling process, the number of rotations of the drill bit of the drilling machine is obtained by the encoder. When the number of rotations of the drill bit reaches the target value, the drill bit is stopped and the drilling machine is withdrawn from the mounting hole.

[0009] The first robotic arm controls the mechanical interface to separate from the third connecting piece and then controls the mechanical interface to connect to the first connecting piece. The first robotic arm controls the first clamp to grab the bolt, and the second robotic arm is controlled to cooperate with the first robotic arm to fix the lamp through the bolt and the mounting hole.

[0010] Furthermore, the position of the lamp is determined according to the lamp image of the camera on the second connecting member, and the second clamp is controlled by the second mechanical arm to grab the lamp according to the position of the lamp, including:

[0011] Control the camera on the second connecting piece, identify the lamp in the image through the ResNet-50 network model, and obtain a lamp frame selection image including the lamp;

[0012] Combined with Faster R-CNN, the lamp detection is performed on the lamp frame selection image to obtain multiple detection frames, and NMS is used to remove redundant frames in multiple detection frames to obtain the lamp bounding frame, and the coordinates of the lamp bounding frame are established;

[0013] OpenPose is used to determine the pose and direction of the lamp, and combined with the coordinates of the lamp bounding box, the second gripper is controlled to grab the lamp from the optimal angle.

[0014] Furthermore, determining the drilling position according to the drilling image of the camera on the third connecting member includes:

[0015] According to the drilling image of the camera on the third connecting part, Mask R-CNN is used to analyze the drilling image to identify the drilling position, and a virtual frame is set near the drilling position.

[0016] Furthermore, controlling the first clamp to grab the bolt by the first mechanical arm includes:

[0017] The first robot arm replaces the drilling rig with the first fixture, collects an image of the bolt according to the camera on the first fixture, and identifies the bolt in the image through the ResNet-50 network model to obtain a bolt frame selection image including the bolt;

[0018] Combined with Faster R-CNN, the bolt frame selection image is detected to obtain multiple detection frames. NMS is used to remove redundant frames in the bolt frame selection image to obtain the bolt bounding box, and the bolt bounding box coordinates are established.

[0019] OpenPose is used to determine the posture and direction of the bolt, and combined with the bolt bounding box coordinates, the first gripper is controlled to grab the bolt from the optimal angle.

[0020] Furthermore, the second mechanical arm cooperates with the first mechanical arm to control the bolt and the mounting hole to fix the lamp, including:

[0021] The lamp is moved to the mounting hole position by the second robotic arm and the lamp holder of the lamp is aligned with the mounting hole. During the assembly process, the position of the bolt is adjusted according to the camera on the first fixture, and the first robotic arm controls the first fixture to assemble the bolt and the mounting hole.

[0022] Furthermore, the first connecting member, the second connecting member and the third connecting member have the same structure, which includes:

[0023] A magnetic chuck and a cylindrical casing, wherein the magnetic chuck is fixed to the bottom surface of the cylindrical casing, and the magnetic chuck is connected to the mechanical interface of the first mechanical arm or the second mechanical arm through magnetic attraction;

[0024] The cylindrical casing receives the assembly drill or the first clamp or the second clamp through its opening;

[0025] The camera is installed on the outer wall of the cylindrical casing.

[0026] Furthermore, the first clamp is a three-jaw clamp, and the clamping jaws are made of plastic or metal material.

[0027] Furthermore, the second clamp is a three-jaw clamp, and the clamping jaws thereof are made of silicone material.

[0028] Furthermore, a device rack is fixed on the base, and the device rack is used to place the lamp or the drilling rig to be replaced or the first fixture or the second fixture;

[0029] The intelligent installation device of the lamp also includes a mobile platform and a scissor lift arranged on the mobile platform;

[0030] The mobile platform includes a base plate, a front wheel, a rear wheel and a locking structure. The front wheel and the rear wheel are mounted on the base plate. The base plate controls whether the rear wheel moves through the locking structure. A sensor is mounted on the base plate for the processor to control the movement of the mobile platform.

[0031] The scissor lift is installed on the top of the base plate, the base is installed on the lifting platform of the scissor lift, and the scissor lift is installed with a sensor for the processor to control the height of the scissor lift.

[0032] Furthermore, the present invention provides a control method for an intelligent installation device of a lamp, comprising:

[0033] A base, in which a processor is disposed;

[0034] A first mechanical arm and a second mechanical arm mounted on the base;

[0035] A drilling rig, wherein an encoder for collecting the number of rotations of the drill bit of the drilling rig is arranged inside the drilling rig, and the drilling rig can be detachably mounted on the mechanical interface of the first mechanical arm through a third connecting member;

[0036] A first fixture, which can be detachably mounted on a mechanical interface of the first mechanical arm through a first connecting member;

[0037] A second fixture, which can be detachably mounted on the mechanical interface of the second mechanical arm through a second connecting member;

[0038] Three cameras are respectively mounted on the first connecting member, the second connecting member and the third connecting member;

[0039] The processor is configured as:

[0040] Determine the position of the lamp according to the image captured by the camera on the second connecting member, and control the second clamp to grab the lamp through the second mechanical arm according to the position of the lamp;

[0041] Determine the drilling position according to the image captured by the camera on the third connecting member, control the drill to drill at the drilling position through the first mechanical arm to form the installation hole, and during the drilling process, obtain the number of rotations of the drill bit of the drill through the encoder, and when the number of rotations of the drill bit reaches the target value, stop the drill bit from rotating and withdraw the drill from the installation hole;

[0042] The first robotic arm controls the mechanical interface to separate from the third connecting piece and then controls the mechanical interface to connect to the first connecting piece. The first robotic arm controls the first clamp to grab the bolt, and the second robotic arm is controlled to cooperate with the first robotic arm to fix the lamp through the bolt and the mounting hole.

[0043] The present invention provides an intelligent installation device for lamps, which has the following beneficial effects:

[0044] 1. The processor controls the second robotic arm to cooperate with the first robotic arm to control the bolts and the mounting holes to fix the lamp. During this operation, the visual system is used to accurately align the drilling position of the drill, and the second robotic arm cooperates with the first robotic arm to take the lamp and assemble it with the bolts. Even in complex environments, it has high accuracy and execution power, which solves the problem that the existing device cannot ensure accurate positioning of the lamp during installation and standardized drilling of the drill bit when working in complex environments.

[0045] 2. The lamp installation operation of this device is basically completed automatically by a manipulator, and the installation of lamps at different heights is achieved through a mobile platform and a scissor lift, which avoids the operator from entering a complex environment and improves the safety of the device use and lamp installation.

[0046] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a structural schematic diagram of a preferred embodiment of the present invention;

[0048] Figure 2 It is a schematic diagram of the structure of the drilling rig and the first mechanical arm;

[0049] Figure 3 is a schematic diagram of the structure in which the second fixture is installed with the second mechanical arm via a second connecting member;

[0050] Figure 4 is a schematic diagram of the structure in which the first fixture is installed with the first mechanical arm through the first connecting member;

[0051] Figure 5 It is a schematic diagram of the structure in which the fixture and the lamp are placed on the device frame;

[0052] Figure 6 It is a structural diagram of the installation of the connecting parts and the robotic arm;

[0053] Figure 7 It is a structural diagram of a mobile platform and a scissor lift. DETAILED DESCRIPTION

[0054] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0055] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the general meaning understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the", "these" and the like in this application do not represent quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether directly or indirectly. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. Usually, the character " / " indicates that the objects associated with each other are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0056] See also Figures 1 to 7 In an embodiment of the present invention, an intelligent installation device for lamps is provided, which includes: a base, a first mechanical arm 2, a second mechanical arm 3, a drill 17, a first clamp, a second clamp, three cameras 18, a device frame 6, a mobile platform 1, a first connecting piece, a second connecting piece, a third connecting piece and a scissors-type lift 9.

[0057] A processor is disposed inside the base.

[0058] The processor collects data sent back by the first robotic arm 2 , the second robotic arm 3 , the drill 17 and the three cameras 18 , processes the data and outputs action instructions for the first robotic arm 2 , the second robotic arm 3 , the drill 17 and the three cameras 18 .

[0059] See also Figure 1 , the first robotic arm 2 and the second robotic arm 3 are installed on the base.

[0060] See also Figures 2 to 4The drill 17 is provided with an encoder for collecting the number of rotations of the drill head of the drill 17. The drill 17 can be detachably mounted on the mechanical interface of the first mechanical arm 2 through the third connecting member. The first fixture can be detachably mounted on the mechanical interface of the first mechanical arm 2 through the first connecting member. The second fixture can be detachably mounted on the mechanical interface of the second mechanical arm 3 through the second connecting member. The three cameras 18 are respectively mounted on the first connecting member, the second connecting member and the third connecting member.

[0061] In some embodiments, the first robotic arm 2 and the second robotic arm 3 are symmetrically mounted on the base to make the work between the robotic arms more coordinated.

[0062] In other embodiments, the first robotic arm 2 and the second robotic arm 3 are asymmetrically mounted on the base, so that the control range of the robotic arms is increased, which is beneficial for grasping and moving lamps and parts.

[0063] The first robotic arm 2 and the second robotic arm 3 are connected to the drill 17 and the second clamp through the first connecting member and the second connecting member respectively, and the initial viewing angle of the camera 18 on the first connecting member and the second connecting member is aimed at the device frame 6, and the device frame 6 and the drill 17, the first clamp, and the second clamp on the device frame 6 are included in the viewing angle of the camera 18.

[0064] The encoder can collect the number of revolutions of the drill bit of the drilling rig 17, and then transmit the data to the processor, which determines whether it is a target number of revolutions. If it is, it means that the target depth has been reached and the rotation stops. If it is not, it means that the target depth has not been reached and the rotation continues.

[0065] The drilling rig 17 is provided with a pressure sensor to monitor the pressure of the drill bit in real time, and a threshold value (maximum pressure 5 kg) is set to limit the drill bit to prevent excessive force.

[0066] See also Figure 5 A device frame 6 is fixed on the base, and the device frame 6 is used to place the lamp or the drilling rig 17 to be replaced or the first fixture or the second fixture.

[0067] In some embodiments, four placement slots are provided on the device frame 6, each of which can be used to place a lamp or a drill rig 17 to be replaced or a first clamp or a second clamp. When the workpiece is clamped by the robotic arm, it is identified with the help of the camera 18 and moved to the installation location for connection.

[0068] In other embodiments, the slots of the device frame 6 are set as coordinates, so that the first connecting member, the second connecting member, and the third connecting member can be connected to the mechanical interfaces of the first robotic arm 2 and the second robotic arm 3 without the need for recognition by the camera 18.

[0069] The first clamp and the second clamp are both three-claw clamps, used for clamping bolts and lamps respectively.

[0070] The clamping jaws of the first clamp are made of plastic or metal material, which is convenient for clamping hard parts such as bolts.

[0071] The clamping claws of the second clamp are made of silicone material, which is convenient for clamping the lamp. Moreover, since silicone material is a soft material, it is not easy to cause excessive pressure on the bulb part of the lamp, which is beneficial to protecting the lamp from breaking.

[0072] Among them, see Figure 6 The first connecting member, the second connecting member and the third connecting member have the same structure, which include: a magnetic suction cup and a cylindrical shell, the magnetic suction cup is fixed to the bottom surface of the cylindrical shell, and the mechanical interface of the magnetic suction cup and the first mechanical arm 2 or the second mechanical arm 3 is connected by magnetic attraction; the cylindrical shell accommodates the assembly drill 17 or the first clamp or the second clamp through its opening; the camera 18 is installed on the outer wall of the cylindrical shell.

[0073] The first connecting member, the second connecting member and the third connecting member are all connected to the mechanical interface of the first robotic arm 2 and the second robotic arm 3 by magnetic attraction. The magnetic suction cup is made of metal. An electromagnet is installed at the mechanical interface of the first robotic arm 2 or the second robotic arm 3. The electromagnet is electrically connected to the internal circuit of the robotic arm. The electromagnet will adsorb the magnetic suction cup after being energized. When disassembly is required, it is only necessary to disconnect the power supply between the electromagnet and the robotic arm to make the electromagnet lose its magnetism, thereby not being adsorbed by the magnetic suction cup, thereby achieving quick installation and disassembly.

[0074] See also Figure 7 The intelligent installation device of the lamp also includes a mobile platform 1 and a scissor lift 9 arranged on the mobile platform 1.

[0075] The mobile platform 1 includes a base plate, front wheels 7, rear wheels 8 and a locking structure 11. The front wheels 7 and rear wheels 8 are mounted on the base plate. The base plate controls whether the rear wheels 8 move through the locking structure 11. A sensor is installed on the base plate for the processor to control the movement of the mobile platform 1.

[0076] The scissor lift 9 is installed on the top of the base plate, the base is installed on the lifting platform of the scissor lift 9, and the scissor lift 9 is installed with a sensor for the processor to control the height of the scissor lift 9.

[0077] Among them, the motor installed in the base plate is used to drive the rear wheel 8 to drive the mobile platform 1 to move. After moving to the set position, the driving rear wheel 8 can be locked by the locking structure 11, thereby limiting the mobile platform 1 and preventing it from moving. The device frame 6 can be raised and lowered by the scissors-type lift 9, thereby realizing drilling and lamp installation operations at different heights.

[0078] The locking structure 11 can be a method of locking the driving rear wheel 8 by means of a pin inserted into a hole. A through hole is provided on the driving rear wheel 8. When the designated position is reached, the pin is inserted into the through hole to achieve locking.

[0079] Light ranging sensors can be set on both the base plate and the scissors-type lift 9. The light ranging sensors detect the distance between the base plate and the wall, and the data is returned to the processor for judgment, thereby controlling the movement and stop of the mobile platform 1. The light ranging sensors detect the distance between the scissors-type lift 9 and the ceiling, and the data is returned to the processor for judgment, thereby controlling the movement and stop of the scissors-type lift 9. This makes it highly intelligent and can achieve precise operation, thereby improving the accuracy of the drill 17 and the clamp, and solving the problem that the existing positioning and drilling equipment cannot ensure accurate positioning during lamp installation and standardized drilling of the drill bit when working in a complex environment.

[0080] The processor is configured as:

[0081] Grab the lamp: determine the position of the lamp according to the image of the lamp taken by the camera 18 on the second connecting member, and control the second clamp to grab the lamp through the second mechanical arm 3 according to the position of the lamp.

[0082] The specific operation is: train the ResNet-50 network model in advance through the cross entropy loss function and Adam optimizer to obtain a standard network model database, and control the high-resolution camera 18 on the second connecting piece to obtain a preliminary image.

[0083] The preliminary image is all the scenes within the entire frame including the lamp. Due to the mixture of various scenes, it is difficult to distinguish the outline of the lamp.

[0084] The contrast of the preliminary image is enhanced by Gaussian blur denoising and histogram equalization, so that the lamps in the image can be identified through the ResNet-50 network model combined with the standard network model database to obtain a lamp frame selection image including the lamps. The lamp frame selection image narrows the field of view to a circle around the lamp outline, but still includes the lamp image and other mixed images.

[0085] Faster R-CNN is used to detect lamps in the lamp frame selection image to obtain multiple detection frames.

[0086] The multiple detection frames include frames of lamp images as well as frames of other mixed images.

[0087] Non-maximum suppression (NMS) is used to remove redundant frames in multiple detection frames to obtain a lamp bounding frame, which is a frame containing only the lamp image, and the coordinates of the lamp bounding frame are established.

[0088] OpenPose is used to determine the posture and direction of the lamp, and the angle threshold (±5 degrees) and distance error (±2 cm) are set with reference to the coordinates of the lamp boundary box. According to the path generation algorithm, the second robot 3 controls the second gripper to grab the lamp from the best angle. Among them, the PPO reinforcement learning algorithm is used to train the robot arm in a simulated environment to obtain a standard coordinate database, and the path generation algorithm combines the standard coordinate database to generate the motion path of the robot arm.

[0089] Drilling: Determine the drilling position based on the drilling image taken by the camera 18 on the third connecting part, and control the drill 17 to drill at the drilling position through the first robotic arm 2 to form a mounting hole. During the drilling process, the number of rotations of the drill bit of the drill 17 is obtained through the encoder. When the number of rotations of the drill bit reaches the target value, stop the drill bit from rotating and withdraw the drill 17 from the mounting hole.

[0090] The specific operation is: according to the drilling image captured by the camera 18 on the third connecting member, Mask R-CNN is used to analyze the drilling image.

[0091] Among them, Mask R-CNN is mainly used for image segmentation and object detection, which can identify objects in the image and generate their accurate segmentation masks. The hole image contour of the drilling image is obtained to identify the drilling position, and a virtual frame is set near the hole image contour to obtain the drilling coordinates. Combined with the above-mentioned standard coordinate database, the processor outputs instructions to guide the first robot arm 2 to control the drill 17 to drill at the drilling position to form the installation hole. During the drilling process, the number of rotations of the drill bit of the drill 17 is obtained through the encoder. When the number of rotations of the drill bit reaches the target value, the first robot arm 2 controls the drill 17 to stop the drill bit from rotating and withdraw the drill 17 from the installation hole.

[0092] Detection: After the drilling is completed, a ring light is set at the camera 18 on the third connecting piece. The ring light surrounds the outer contour of the camera 18 and can illuminate the installation hole at multiple angles to expose the details inside the hole. The installation hole is photographed by the camera 18 on the third connecting piece to obtain an image inside the hole, and the depth of the hole is detected by the visual ranging system. The data is transmitted to the processor for data comparison to determine whether the depth of the hole is qualified.

[0093] Lighting assembly: The first robot arm 2 replaces the drill 17 with the first fixture, and collects the preliminary image of the bolts according to the camera 18 on the first fixture. The preliminary image is all the scenes in the entire frame including the bolts. Due to the mixture of multiple scenes, it is difficult to distinguish the outline of the bolts. The bolts in the preliminary image of the bolts are identified by the trained ResNet-50 network model, and the bolt frame image including the bolts is obtained. The bolt frame image narrows the field of view to a circle around the bolt outline, but still includes the bolt image and other mixed images.

[0094] Faster R-CNN is used to detect the bolt frame image to obtain multiple detection frames, which contain both bolt image frames and frames of other mixed images. NMS is used to remove redundant frames (mixed image frames) in the bolt frame image to obtain the bolt bounding frame and establish the bolt bounding frame coordinates;

[0095] OpenPose is used to determine the posture and direction of the bolt, and combined with the bolt bounding box coordinates, the first fixture is controlled to grab the bolt from the best angle according to the path generation algorithm. Among them, the PPO reinforcement learning algorithm is used to train the robotic arm in a simulated environment to obtain a standard coordinate database, and the path generation algorithm is combined with the standard coordinate database to generate the motion path of the robotic arm.

[0096] The second robot arm 3 moves the lamp to the mounting hole position and aligns the lamp holder of the lamp with the mounting hole. During the assembly process, the orientation of the bolt is adjusted according to the camera 18 on the first fixture, and the image processing algorithm (such as the lamp clamping algorithm) is used to determine the exact position and angle of the bolt. Then, the path generation algorithm of the processor combines the above-mentioned standard coordinate database to generate the motion path of the fixture relative to the bolt, adjust the position of the fixture to ensure accurate clamping of the bolt, and adjust the placement angle and position of the bolt in real time in combination with the visual feedback of the camera 18 on the first fixture during rotation, so that the bolt is correctly embedded in the hole within the set angle threshold (±3 degrees), so that the first robot arm 2 controls the first fixture to assemble the bolt and the mounting hole, thereby realizing the assembly of the lamp.

[0097] The present invention sets a processor in the base, installs the first mechanical arm 2 and the second mechanical arm 3 on the base, and uses the processor to control the first mechanical arm 2 and the second mechanical arm 3 to connect the first clamp and the second clamp to coordinate the installation of the lamp. According to the visual feedback of the camera 18, the lamp can be accurately positioned when installed. When performing the drilling operation, the encoder built into the drill 17 reads the number of revolutions of the drill bit of the drill 17, so as to ensure that the drill bit stops after a certain number of revolutions, thereby ensuring that the drilling depth of the drill bit meets the target value and achieves the effect of standardized drilling. The problem that the existing positioning and drilling equipment cannot ensure accurate positioning of the lamp during installation and standardized drilling of the drill bit when working in a complex environment is solved.

[0098] As described above, the intelligent installation device for lamps provided by the present invention has been described in a relatively complete manner. The following is an example of a control method for the installation device using a specific embodiment.

[0099] In some specific embodiments, the control method of the lamp installation device is as follows:

[0100] S1:

[0101] Place the lamp on a mobile platform, transport the lamp to a suitable location via the mobile platform, and lock the platform using a locking device.

[0102] S2:

[0103] The height is adjusted by a hydraulically driven scissor lift mechanism, and the positioning is performed using a positioning switch. The distance from the ceiling and the wall is measured, and the parameters are input into the feedback system for judgment. The lift mechanism stops moving when the appropriate position is reached.

[0104] S3:

[0105] A robotic arm is connected to a fixture with a flexible gripper through a quick-change device. The quick-change device uses two connection methods: 1. The electrical interface controls the electromagnet adsorption; 2. The mechanical structure is locked and includes a guide device. The lamp is photographed in real time using a high-resolution camera. Image preprocessing includes Gaussian blur denoising and histogram equalization to enhance contrast. ResNet-50 is used for lamp recognition. Data enhancement is used to improve the generalization ability of the model. The cross entropy loss function and Adam optimizer are used during training. Faster R-CNN is combined for target detection, and non-maximum suppression (NMS) is used to remove redundant frames and output the coordinates of the lamp bounding box. OpenPose is used to determine the pose and direction of the lamp, and the robotic arm grasps it from the best angle. The optimal grasping point is calculated by combining the gripper geometry, the identified bounding box and key point data, and the angle threshold (±5 degrees) and distance error (±2 cm) are set. The system uses the PPO reinforcement learning algorithm to train the robotic arm to select the best grasping path through a simulated environment, and monitors the distance between the gripper and the lamp in real time to close the gripper at the right time.

[0106] S4:

[0107] The other robot arm is connected to the drill bit through a quick-change device, and the same camera is used to identify the drilling position. Mask R-CNN is used to accurately identify the target position, and a virtual frame is set near the target position. Mask R-CNN is mainly used for image segmentation and object detection. It can identify objects in the image and generate their accurate segmentation masks, but it cannot directly control the movement of the robot arm. The movement path of the robot arm is calculated by the motion control system, and the motion instructions are generated according to the coordinates of the virtual frame using inverse kinematics. The control system sends instructions to the servo motor in real time, and adjusts the position through encoder feedback. The encoder calculates the depth by recording the number of rotations of the drill bit. For each rotation, the encoder will output a specific number of pulses. Through the preset thread feed parameters, the number of rotations can be converted into the actual drilling depth, ensuring that the robot arm moves accurately to the specified position, guiding the movement trajectory of the drilling robot arm, and reaching the correct drilling point. During the drilling process, the pressure sensor monitors the downward pressure in real time. The pressure sensor is placed on the coupling connecting the motor and the drill bit, measuring the axial pressure on the drill bit, setting the threshold (maximum pressure 5 kg), and operating within a safe range to prevent excessive downward pressure, which means that the drill bit is pressed into the wall. A servo motor with an encoder is used to control the lifting and lowering of the drill bit. Lifting means that when the drill bit drills into the ceiling, it moves in the direction perpendicular to the ceiling plane. The control system collects encoder data in real time and calculates the difference between the current depth and the preset depth. When the drilling reaches the preset depth, the system triggers a stop signal and immediately stops the motor movement to ensure the accuracy of the drilling depth. After the drilling is completed, the camera captures the hole position, uses an image processing algorithm (visual ranging) to analyze the depth and diameter of the hole, and measures whether the roundness and smoothness of the hole meet the requirements. The system records the drilling parameters (depth, diameter, pressure value) for subsequent tracking and quality control. If the drilling is unqualified, the system will automatically enter the error handling process, such as adjusting the drilling position or re-drilling, and issue an alarm to notify the operator.

[0108] S5:

[0109] After the drilling robot arm is completed, it is replaced with a rigid gripper fixture to grab the bolt. The gripping position is usually the cap part of the bolt. The fixture uses a visual system (high-resolution camera) to take a real-time picture of the bolt and uses an image processing algorithm (such as the algorithm described in the gripping fixture) to determine the exact position and angle of the bolt. The system then calculates the motion path of the fixture relative to the bolt (inverse kinematics), adjusts the position of the fixture to ensure accurate gripping, and combines visual feedback when the fixture rotates to adjust the placement angle and position of the bolt in real time to correctly embed it into the hole within the set angle threshold (±3 degrees). The rotation of the fixture is controlled by a motor to screw the bolt into the hole, and the torque is monitored to prevent over-tightening.

[0110] The intelligent mechanical device of the present invention and the installation method of lamps using the auxiliary machinery of the present invention significantly improve the installation efficiency and safety of lamps and other items. Through the optimal design of the scissor-type lifting platform and the six-axis operating robot arm, the device achieves efficient movement and precise height adjustment, reducing labor costs. In addition, the collaborative work of the dual robot arms enhances the operating efficiency, while the combination of the locking device and the sensor system ensures safety and stability during operation. The advanced motion control algorithm ensures the high-precision operation of the robot arm in complex environments, making the overall installation process more efficient, accurate and safe.

[0111] 1. There are relatively few home industry products that have both high mobility and intelligent recognition capabilities. This mechanical device provides a brand new solution for lighting installation users.

[0112] 2. Multiple machines work together, and each mechanical device can move and rise and fall freely, and cooperate with each other to drill holes, clamp and install lamps, so as to adapt to the installation needs of different heights and different scenes.

[0113] 3. Scissor-type lifting mechanism: This structure provides superior load capacity and stability, and can lift smoothly under different heights and load conditions, improving the safety and reliability of the equipment.

[0114] 4. Six-axis designed robotic arm: The six-axis structured robotic arm has greater freedom and flexibility, can achieve complex multi-directional movements, and can adapt to a variety of installation and operation tasks.

[0115] 3. Collaborative work of two robotic arms: A collaborative working mechanism of two robotic arms is designed, which can perform different operations at the same time, such as grasping and drilling, significantly improving work efficiency.

[0116] 4. Quick-change fixture system: The integrated quick-change mechanism supports the rapid replacement of different types of end effectors, improving the adaptability and ease of operation of the equipment

[0117] 5. Optimized clamp design: The combination design of flexible clamp and rigid clamp enables the robot arm to automatically adjust the grasping mode according to the shape and weight of different objects, improving the safety and stability of grasping.

[0118] This embodiment is finished, and the technical effect recorded in the briefing book can also be replicated.

[0119] The terms "module", "unit", "subunit" and the like used below may be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0120] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0121] It should be understood that the specific embodiments described herein are only used to explain the application, rather than to limit it. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of this application.

[0122] Obviously, the drawings are only some examples or embodiments of the present application. For ordinary technicians in the field, the present application can also be applied to other similar situations based on these drawings without creative work. In addition, it is understandable that although the work done in this development process may be complicated and lengthy, for ordinary technicians in the field, certain changes in design, manufacturing or production based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient content disclosed in this application.

Claims

1. An intelligent installation device for lamps, characterized in that: include: A base, in which a processor is disposed; A first mechanical arm (2) and a second mechanical arm (3) mounted on the base; A drilling machine (17), wherein an encoder for collecting the number of rotations of the drill bit of the drilling machine (17) is arranged inside the drilling machine (17), and the drilling machine (17) can be detachably mounted on the mechanical interface of the first mechanical arm (2) via a third connecting member; A first clamp, which can be detachably mounted on a mechanical interface of the first mechanical arm (2) via a first connecting member; A second clamp, which can be detachably mounted on a mechanical interface of the second mechanical arm (3) via a second connecting member; Three cameras (18), respectively mounted on the first connecting member, the second connecting member and the third connecting member; The processor is configured as: Determining the position of the lamp based on an image of the lamp captured by a camera (18) on the second connecting member, and controlling the second clamp to grasp the lamp based on the position of the lamp using a second mechanical arm (3); The drilling position is determined according to the drilling image captured by the camera (18) on the third connecting member, and the drilling machine (17) is controlled by the first mechanical arm (2) to drill at the drilling position to form a mounting hole. During the drilling process, the number of rotations of the drill bit of the drilling machine (17) is obtained by an encoder, and when the number of rotations of the drill bit reaches a target value, the rotation of the drill bit is stopped and the drilling machine (17) is withdrawn from the mounting hole; The first mechanical arm (2) controls the mechanical interface to separate from the third connecting member and then controls the mechanical interface to connect to the first connecting member, the first mechanical arm (2) controls the first clamp to grab the bolt, and the second mechanical arm (3) is controlled to cooperate with the first mechanical arm (2) to fix the lamp through the bolt and the mounting hole.

2. The intelligent installation device for lamps according to claim 1, characterized in that: The method comprises: determining the position of the lamp according to the image of the lamp captured by the camera (18) on the second connecting member, and controlling the second clamp to grasp the lamp according to the position of the lamp by the second mechanical arm (3), comprising: Controlling the camera (18) on the second connecting member to identify the lamp in the image through a ResNet-50 network model, and obtaining a lamp frame selection image including the lamp; Combined with Faster R-CNN, the lamp detection is performed on the lamp frame selection image to obtain multiple detection frames, and NMS is used to remove redundant frames in multiple detection frames to obtain the lamp bounding frame, and the coordinates of the lamp bounding frame are established; OpenPose is used to determine the pose and direction of the lamp, and combined with the coordinates of the lamp bounding box, the second gripper is controlled to grab the lamp from the optimal angle.

3. The intelligent installation device for lamps according to claim 1, characterized in that: Determining the drilling position according to the drilling image of the camera (18) on the third connecting member comprises: According to the drilling image of the camera (18) on the third connecting member, Mask R-CNN is used to analyze the drilling image to identify the drilling position, and a virtual frame is set near the drilling position.

4. The intelligent installation device for lamps according to claim 1, characterized in that: Controlling the first clamp to grab the bolt by a first mechanical arm (2) comprises: The first mechanical arm (2) replaces the drilling machine (17) with a first clamp, collects an image of the bolt using a camera (18) on the first clamp, and identifies the bolt in the image using a ResNet-50 network model to obtain a bolt frame image including the bolt; Combined with Faster R-CNN, the bolt frame selection image is detected to obtain multiple detection frames. NMS is used to remove redundant frames in the bolt frame selection image to obtain the bolt bounding box, and the bolt bounding box coordinates are established. OpenPose is used to determine the posture and direction of the bolt, and combined with the bolt bounding box coordinates, the first gripper is controlled to grab the bolt from the optimal angle.

5. The intelligent installation device for lamps according to claim 1, characterized in that: The second mechanical arm (3) cooperates with the first mechanical arm (2) to control the bolt and the mounting hole to cooperate with each other to fix the lamp, including: The lamp is moved to the mounting hole position by the second mechanical arm (3) and the lamp holder of the lamp is aligned with the mounting hole. During the assembly process, the position of the bolt is adjusted according to the camera (18) on the first clamp, and the first mechanical arm (2) controls the first clamp to assemble the bolt and the mounting hole.

6. The intelligent installation device for lamps according to claim 1, characterized in that: The first connecting member, the second connecting member and the third connecting member have the same structure, and include: A magnetic chuck and a cylindrical casing, wherein the magnetic chuck is fixed to the bottom surface of the cylindrical casing, and the magnetic chuck is connected to the mechanical interface of the first mechanical arm (2) or the second mechanical arm (3) through magnetic attraction; The cylindrical casing receives and assembles the drilling rig (17) or the first clamp or the second clamp through its opening; The camera (18) is mounted on the outer wall of the cylindrical casing.

7. The intelligent installation device for lamps according to claim 1, characterized in that: The first clamp is a three-jaw clamp, and the clamping jaws are made of plastic or metal.

8. The intelligent installation device for lamps according to claim 1, characterized in that: The second clamp is a three-claw clamp, and the clamping jaws are made of silicone material.

9. The intelligent installation device for lamps according to claim 1, characterized in that: A device frame (6) is fixed on the base, and the device frame (6) is used to place the lamp or the drilling rig (17) to be replaced or the first clamp or the second clamp; The intelligent installation device for the lamp also includes a mobile platform (1) and a scissor lift (9) arranged on the mobile platform (1); The mobile platform (1) comprises a base plate, a front wheel (7), a rear wheel (8) and a locking structure (11); the front wheel (7) and the rear wheel (8) are mounted on the base plate; the base plate controls whether the rear wheel (8) moves through the locking structure (11); a sensor is mounted on the base plate for a processor to control the movement of the mobile platform (1); The scissor lift (9) is installed on the top of the base plate, the base is installed on the lifting platform of the scissor lift (9), and a sensor is installed on the scissor lift (9) for the processor to control the height of the scissor lift (9).

10. A control method for an intelligent installation device of a lamp, characterized in that: Intelligent installation equipment for lamps includes: A base, in which a processor is disposed; A first mechanical arm (2) and a second mechanical arm (3) mounted on the base; A drilling machine (17), wherein an encoder for collecting the number of rotations of the drill bit of the drilling machine (17) is arranged inside the drilling machine (17), and the drilling machine (17) can be detachably mounted on the mechanical interface of the first mechanical arm (2) via a third connecting member; A first clamp, which can be detachably mounted on a mechanical interface of the first mechanical arm (2) via a first connecting member; A second clamp, which can be detachably mounted on a mechanical interface of the second mechanical arm (3) via a second connecting member; Three cameras (18), respectively mounted on the first connecting member, the second connecting member and the third connecting member; A control method is applied to the processor, and the control method includes: determining the position of the lamp based on an image captured by a camera (18) on the second connecting member, and controlling the second clamp to grasp the lamp based on the position of the lamp using a second mechanical arm (3); The drilling position is determined according to the image captured by the camera (18) on the third connecting member, and the drilling machine (17) is controlled by the first mechanical arm (2) to drill at the drilling position to form a mounting hole. During the drilling process, the number of rotations of the drill bit of the drilling machine (17) is obtained by an encoder, and when the number of rotations of the drill bit reaches a target value, the rotation of the drill bit is stopped and the drilling machine (17) is withdrawn from the mounting hole; The first mechanical arm (2) controls the mechanical interface to separate from the third connecting member and then controls the mechanical interface to connect to the first connecting member, the first mechanical arm (2) controls the first clamp to grab the bolt, and the second mechanical arm (3) is controlled to cooperate with the first mechanical arm (2) to fix the lamp through the bolt and the mounting hole.

Images