A smart installation device for lighting fixtures and its control method

Abstract

This application relates to an intelligent installation device and control method for lighting fixtures, belonging to the field of lighting fixture installation equipment. The intelligent installation device includes: a base, a first robotic arm, a second robotic arm, a drill, a first clamp, a second clamp, and three cameras. A processor is installed inside the base. The processor controls the second robotic arm to work in conjunction with the first robotic arm to control the bolts and mounting holes to fix the lighting fixture. During this operation, a vision system precisely aligns the drilling position, and the second robotic arm, in conjunction with the first robotic arm, picks up the lighting fixture and assembles it with the bolts. Even in complex environments, it maintains high precision and execution capability, solving the problem that existing devices cannot guarantee accurate positioning and standardized drilling during lighting fixture installation in complex environments.

Description

Technical Field

[0001] This application relates to the field of lighting installation equipment, and in particular to an intelligent lighting installation device and its control method. Background Technology

[0002] With the acceleration of urbanization and the improvement of living standards, the building decoration and facility installation industry is facing increasing demand, especially in the field of lighting installation, which requires positioning and drilling in walls or ceilings.

[0003] Existing positioning, drilling, and lighting installation are primarily done manually using drilling and lighting installation equipment. All operations on this equipment require real-time manual control of the operating levers. However, in high-altitude, dark, and complex environments, operators must enter the installation environment with the equipment, increasing the risk of errors and safety hazards. Furthermore, it is often impossible to guarantee precise positioning of the lighting fixture and proper drilling. To ensure qualified holes, the drill bit needs to be moved repeatedly, which can damage the drilled holes and affect the installation effect and lifespan of the lighting fixture. Therefore, it is difficult to meet the installation requirements in complex environments. Summary of the Invention

[0004] This invention provides an intelligent installation device and control method for lighting fixtures to solve the problem that existing positioning and drilling equipment cannot guarantee accurate positioning and standardized drilling during lighting fixture installation in complex environments.

[0005] This invention provides an intelligent installation device for lighting fixtures, comprising: a base, a first robotic arm, a second robotic arm, a drill, a first clamp, a second clamp, and three cameras. A processor is internally mounted on the base. The first and second robotic arms are mounted on the base. The drill is internally equipped with an encoder for collecting the number of drill bit rotations, and the drill is detachably mounted on the mechanical interface of the first robotic arm via a third connector. The first clamp is detachably mounted on the mechanical interface of the first robotic arm via the first connector. The second clamp is detachably mounted on the mechanical interface of the second robotic arm via the second connector. The three cameras are respectively mounted on the first, second, and third connectors.

[0006] The processor is configured as follows:

[0007] The position of the lamp is determined by the image of the lamp captured by the camera on the second connector, and the second gripper is controlled by the second robotic arm to grasp the lamp according to the position of the lamp;

[0008] The drilling position is determined based on the drilling image captured by the camera on the third connector. The drilling machine is controlled by the first robotic arm to drill at the drilling position to form an installation hole. During the drilling process, the number of rotations of the drill bit is obtained by the encoder. When the number of rotations of the drill bit reaches the target value, the drill bit stops rotating and exits the drilling machine from the installation hole.

[0009] After the mechanical interface of the first robotic arm is separated from the third connector, the mechanical interface is connected to the first connector. The first robotic arm controls the first clamp to grab the bolt, and controls the second robotic arm 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 based on the image of the lamp from the camera on the second connector, and the second gripper is controlled by the second robotic arm to grasp the lamp based on its position, including:

[0011] Control the camera on the second connector to identify the lamps in the image through the ResNet-50 network model and obtain a bounding image of the lamps, including the lamps themselves.

[0012] By combining Faster R-CNN to perform lamp detection on the selected lamp image, multiple detection boxes are obtained. Redundant boxes within the multiple detection boxes are removed using NMS to obtain the lamp bounding boxes, and the coordinates of the lamp bounding boxes are established.

[0013] OpenPose is used to determine the attitude and orientation of the luminaire, and combined with the luminaire's bounding box coordinates, the second gripper is controlled to grasp the luminaire from the optimal angle.

[0014] Furthermore, the drilling location is determined based on the drilling image from the camera on the third connector, including:

[0015] Based on the drilling images from the camera on the third connector, Mask R-CNN is used to analyze the drilling images to identify the drilling location, and a virtual frame is set up near the drilling location.

[0016] Furthermore, the first gripper, controlled by the first robotic arm, grasps the bolt, including:

[0017] The first robotic arm replaces the drill rig with the first clamp, and uses the camera on the first clamp to capture images of bolts. It then uses a ResNet-50 network model to identify the bolts in the images and obtains a bolt bounding image including the bolts.

[0018] By combining Faster R-CNN to detect bolt bounding boxes in bolt selection images, multiple detection boxes are obtained. Redundant boxes in the bolt selection images are removed using NMS to obtain bolt bounding boxes, and bolt bounding box coordinates are established.

[0019] OpenPose is used to determine the bolt's orientation and direction, and combined with the bolt's bounding box coordinates, the first clamp is controlled to grip the bolt from the optimal angle.

[0020] Furthermore, the lamp is fixed by using a second robotic arm in conjunction with the first robotic arm to control the engagement of the bolts and the mounting holes.

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

[0022] Furthermore, the first, second, and third connectors have the same structure, comprising:

[0023] A magnetic chuck and a cylindrical shell, wherein the magnetic chuck is fixed to the bottom surface of the cylindrical shell, and the magnetic chuck is magnetically connected to the mechanical interface of the first or second robotic arm.

[0024] The cylindrical casing accommodates the drilling rig or the first or second clamp through its opening;

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

[0026] Furthermore, the first clamp is a three-jaw clamp, with its jaws made of plastic or metal.

[0027] Furthermore, the second clamp is a three-jaw clamp with its jaws made of silicone material.

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

[0029] The intelligent installation equipment for the lamps also includes a mobile platform and a scissor lift mounted 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. Sensors are 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, and the base is installed on the lifting platform of the scissor lift. Sensors are installed on the scissor lift 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 for lighting fixtures, comprising:

[0033] The base, which houses the processor;

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

[0035] The drilling rig is equipped with an encoder inside to collect the number of revolutions of the drill bit. The drilling rig can be detachably installed on the mechanical interface of the first robotic arm via a third connector.

[0036] The first clamp is detachably mounted on the mechanical interface of the first robotic arm via a first connector;

[0037] The second clamp can be detachably mounted on the mechanical interface of the second robotic arm via the second connector;

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

[0039] The processor is configured as follows:

[0040] The position of the lamp is determined by the image captured by the camera on the second connector, and the second gripper is controlled by the second robotic arm to grasp the lamp based on the position of the lamp;

[0041] The drilling position is determined based on the image captured by the camera on the third connector. The drilling machine is controlled by the first robotic arm to drill at the drilling position to form an installation hole. During the drilling process, the number of rotations of the drill bit is obtained by the encoder. When the number of rotations of the drill bit reaches the target value, the drill bit stops rotating and exits the drilling machine from the installation hole.

[0042] After the mechanical interface of the first robotic arm is separated from the third connector, the mechanical interface is connected to the first connector. The first robotic arm controls the first clamp to grab the bolt, and controls the second robotic arm to cooperate with the first robotic arm to fix the lamp through the bolt and the mounting hole.

[0043] This invention provides an intelligent installation device for lighting fixtures, which has the following beneficial effects:

[0044] 1. The processor controls the second robotic arm to work with the first robotic arm to fix the lamp by engaging the bolts and mounting holes. During this operation, the vision system precisely aligns the drilling position, and the second robotic arm works with the first robotic arm to pick up the lamp and assemble it with the bolts. Even in complex environments, it has high precision and execution capability, solving the problem that existing devices cannot guarantee accurate positioning and standardized drilling when installing lamps in complex environments.

[0045] 2. The installation of lamps in this device is basically completed automatically by robotic arms, and lamps at different heights are installed through a mobile platform and a scissor lift, which avoids operators entering complex environments and improves the safety of device use and lamp installation.

[0046] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

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

[0048] Figure 2 This is a structural diagram of the drilling rig and the first robotic arm;

[0049] Figure 3 This is a schematic diagram of the structure in which the second clamp is installed with the second robotic arm via the second connector;

[0050] Figure 4 This is a schematic diagram of the structure in which the first clamp is installed with the first robotic arm via the first connector;

[0051] Figure 5 This is a schematic diagram of the structure where the clamps and lamps are placed on the mounting frame;

[0052] Figure 6 This is a schematic diagram of the connection and the installation of the robotic arm;

[0053] Figure 7 This is a structural diagram of a mobile platform and a scissor lift. Detailed Implementation

[0054] To better understand the purpose, technical solution, and advantages of this application, the application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0055] Unless otherwise defined, the technical or scientific terms used in this application shall have the general meaning as understood by one of ordinary skill in the art to which this application pertains. Words such as “a,” “an,” “an,” “the,” “the,” and “these,” used in this application, do not indicate quantitative limitation and may be singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or modules (units) is not limited to the listed steps or modules (units) but may include steps or modules (units) not listed, or may include other steps or modules (units) inherent to such processes, methods, products, or devices. The terms “connected,” “linked,” and “coupled,” used in this application, are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. The term “multiple” used in this application refers to two or more. The "and / or" operator describes the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: A alone, A and B simultaneously, and B alone. Typically, the character " / " indicates that the objects before and after it are in an "or" relationship. The terms "first," "second," and "third," etc., used in this application are merely for distinguishing similar objects and do not represent a specific ordering of the objects.

[0056] Please see 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 robotic arm 2, a second robotic arm 3, a drilling rig 17, a first clamp, a second clamp, three cameras 18, a device frame 6, a mobile platform 1, a first connector, a second connector, a third connector, and a scissor lift 9.

[0057] The processor is located inside the base.

[0058] The processor collects data transmitted from the first robotic arm 2, the second robotic arm 3, the drilling rig 17, and the three cameras 18, processes the data, and outputs action commands for the first robotic arm 2, the second robotic arm 3, the drilling rig 17, and the three cameras 18.

[0059] Please see Figure 1 The first robotic arm 2 and the second robotic arm 3 are mounted on the base.

[0060] Please see Figures 2 to 4The drilling rig 17 is internally equipped with an encoder for collecting the number of drill bit rotations. The drilling rig 17 can be detachably mounted to the mechanical interface of the first robotic arm 2 via a third connector. The first clamp can be detachably mounted to the mechanical interface of the first robotic arm 2 via a first connector. The second clamp can be detachably mounted to the mechanical interface of the second robotic arm 3 via a second connector. Three cameras 18 are respectively mounted on the first, second, and third connectors.

[0061] In some embodiments, the first robotic arm 2 and the second robotic arm 3 are symmetrically mounted on the base, making 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, which increases the control range of the robotic arms and is beneficial for grasping and moving lamps and parts.

[0063] The first robotic arm 2 and the second robotic arm 3 are respectively connected to the drill 17 and the second clamp via the first connector and the second connector. The camera 18 on the first connector and the second connector is initially aligned with the device frame 6, and the device frame 6, the drill 17, the first clamp and the second clamp on the device frame 6 are included in the field of view of the camera 18.

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

[0065] The drilling rig 17 is equipped with a pressure sensor to monitor the pressure of the drill bit in real time, and limits the force of the drill bit by setting a threshold (maximum pressure 5 kg).

[0066] Please see Figure 5 A device frame 6 is fixed on the base. The device frame 6 is used to place lamps or drilling rigs 17 to be replaced or first clamps or second clamps.

[0067] In some embodiments, the device frame 6 has four placement slots, each slot can hold a lamp or a drill rig 17 to be replaced or a first clamp or a second clamp. When the workpiece is picked up by the robotic arm, it is identified by 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 connector, the second connector, and the third connector can be connected to the mechanical interfaces of the first robotic arm 2 and the second robotic arm 3 without the need for the camera 18 to recognize them.

[0069] Both the first and second clamps are three-jaw clamps, used to grip bolts and light fixtures respectively.

[0070] The first clamp has claws made of plastic or metal, which makes it easy to grip hard parts such as bolts.

[0071] The second clamp has grippers made of silicone, which makes it easy to grip the lamp. Since silicone is a soft material, it does not put too much pressure on the bulb part of the lamp, which helps protect the lamp from breaking.

[0072] Please refer to Figure 6 The first, second, and third connecting parts have the same structure, including a magnetic chuck and a cylindrical shell. The magnetic chuck is fixed to the bottom surface of the cylindrical shell, and the magnetic chuck is magnetically connected to the mechanical interface of the first robotic arm 2 or the second robotic arm 3. The cylindrical shell accommodates the drilling rig 17 or the first or second clamp through its opening. The camera 18 is installed on the outer wall of the cylindrical shell.

[0073] The first, second, and third connectors are all connected to the mechanical interfaces of the first robotic arm 2 and the second robotic arm 3 via magnetic attraction. The magnetic chuck 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 circuitry of the robotic arm. When the electromagnet is energized, it will attract the magnetic chuck. When disassembly is required, simply disconnect the power supply between the electromagnet and the robotic arm to demagnetize the electromagnet, thus preventing it from attracting the magnetic chuck and enabling quick installation and disassembly.

[0074] Please see Figure 7 The intelligent installation equipment for the lighting fixtures also includes a mobile platform 1 and a scissor lift 9 mounted on the mobile platform 1.

[0075] The mobile platform 1 includes 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. Sensors are mounted on the base plate for the processor to control the movement of the mobile platform 1.

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

[0077] The base plate is equipped with a motor to drive the rear wheel 8 to move the mobile platform 1. After moving to the set position, the driving rear wheel 8 can be locked by the locking structure 11, thereby limiting the movement of the mobile platform 1. The device frame 6 can be raised and lowered by the scissor lift 9, thereby realizing drilling and lamp installation operations at different heights.

[0078] The locking structure 11 can be a method of locking the drive rear wheel 8 by engaging a pin and a hole. The drive rear wheel 8 has a through hole, and when it reaches the designated position, the pin is inserted into the through hole to lock it.

[0079] Both the base plate and the scissor lift 9 can be equipped with light-emitting distance sensors. The distance between the base plate and the wall is detected by the light-emitting distance sensors, and the data is returned to the processor for judgment, thereby controlling the movement and stopping of the moving platform 1. The distance between the scissor lift 9 and the ceiling is detected by the light-emitting distance sensors, and the data is returned to the processor for judgment, thereby controlling the movement and stopping of the scissor lift 9. This makes it highly intelligent and can achieve precise operation, improve the accuracy of the drill 17 and the fixture, and solve the problem that existing positioning and drilling equipment cannot guarantee accurate positioning and standardized drilling when installing lamps in complex environments.

[0080] The processor is configured as follows:

[0081] Grabbing the lamp: The position of the lamp is determined based on the image of the lamp captured by the camera 18 on the second connector, and the second gripper is controlled by the second robotic arm 3 to grab the lamp based on the position of the lamp.

[0082] The specific operation is as follows: the ResNet-50 network model is trained in advance using the cross-entropy loss function and the Adam optimizer to obtain a standard network model database, and the high-resolution camera 18 on the second connector is controlled to acquire preliminary images.

[0083] The initial image is a complete view of the entire frame, including the lighting fixtures. Due to the mix of various objects, it is difficult to discern the outlines of the lighting fixtures.

[0084] Gaussian blur denoising and histogram equalization enhance the contrast of the initial image, enabling the identification of lighting fixtures within the image using a ResNet-50 network model combined with a standard network model database, thus obtaining a bounding image of the lighting fixtures. This bounding image narrows the field of view to the perimeter of the lighting fixture outline, but still includes the lighting fixture image and other cluttered images.

[0085] Multiple detection boxes were obtained by performing lamp detection on the selected lamp image using Faster R-CNN.

[0086] The multiple detection frames contain both images of the lighting fixtures and other mixed images.

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

[0088] The orientation and direction of the luminaire are determined using OpenPose. Referring to the luminaire's bounding box coordinates, an angle threshold (±5 degrees) and a distance error (±2 cm) are set. Based on the path generation algorithm, the second robotic arm 3 controls the second gripper to grasp the luminaire from the optimal angle. Specifically, the robotic arm is trained in a simulated environment using the PPO reinforcement learning algorithm to obtain a standard coordinate database. The path generation algorithm then combines this database to generate the robotic arm's motion path.

[0089] Drilling: The drilling position is determined based on the drilling image captured by the camera 18 on the third connector. The first robotic arm 2 controls the drill 17 to drill at the drilling position to form an 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 drill bit stops rotating and exits the drill 17 from the installation hole.

[0090] The specific operation is as follows: based on the drilling images captured by the camera 18 on the third connector, Mask R-CNN is used to analyze the drilling images.

[0091] Mask R-CNN is primarily used for image segmentation and object detection, capable of identifying objects in images and generating precise segmentation masks for them. It also obtains the hole image contour of the drilled image for drilling location identification. A virtual frame is set near the hole image contour to obtain the drill coordinates. Combined with the aforementioned standard coordinate database, the processor outputs instructions to guide the first robotic arm 2 to control the drill rig 17 to drill at the drilling location to form the installation hole. During drilling, the number of rotations of the drill bit 17 is obtained through an encoder. When the number of rotations reaches the target value, the first robotic arm 2 controls the drill rig 17 to stop the drill bit rotation and withdraw the drill rig 17 from the installation hole.

[0092] Inspection: After drilling is completed, a ring light is installed at the camera 18 on the third connector. The ring light surrounds the outer contour of the camera 18 and can illuminate the mounting hole from multiple angles and expose the details inside the hole. The camera 18 on the third connector takes a picture of the mounting hole to obtain an image inside the hole. The depth of the hole is detected by a visual ranging system and 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 robotic arm 2 replaces the drill rig 17 with the first clamp. Using the camera 18 on the first clamp, it acquires a preliminary image of the bolt. This preliminary image includes the entire frame containing the bolt; however, due to the inclusion of various objects, it's difficult to discern the bolt's outline. A trained ResNet-50 network model identifies the bolt within the preliminary image, resulting in a bolt bounding box image. This bolt bounding box image narrows the field of view to the perimeter of the bolt's outline, but still includes the bolt image and other mixed images.

[0094] Multiple bounding boxes were obtained by detecting bolt selection images using Faster R-CNN. These boxes contained both bolt images and bounding boxes from other cluttered images. Redundant boxes (bounding boxes from cluttered images) were removed from the bolt selection images using Non-Maximum Suppression (NMS) to obtain the bolt bounding boxes, and the coordinates of the bolt bounding boxes were established.

[0095] The OpenPose algorithm is used to determine the bolt's pose and orientation. Combined with the bolt's bounding box coordinates, and based on a path generation algorithm, the first gripper is controlled to grasp the bolt from the optimal angle. Specifically, the PPO reinforcement learning algorithm is used to train the robotic arm in a simulated environment to obtain a standard coordinate database. The path generation algorithm then uses this database to generate the robotic arm's motion path.

[0096] The second robotic arm 3 moves the lamp to the mounting hole position and aligns the lamp holder with the mounting hole. During assembly, the orientation of the bolt is adjusted according to the camera 18 on the first fixture, and the exact position and angle of the bolt are determined using image processing algorithms (such as a lamp clamping algorithm). Then, the processor's path generation algorithm, combined with the aforementioned standard coordinate database, generates the motion path of the fixture relative to the bolt, adjusts the fixture position to ensure accurate bolt clamping, and, during rotation, uses visual feedback from the camera 18 on the first fixture to adjust the placement angle and position of the bolt in real time, correctly embedding it into the hole within a set angle threshold (±3 degrees). Thus, the first robotic arm 2 controls the first fixture to assemble the bolt and the mounting hole, thereby achieving lamp assembly.

[0097] This invention utilizes a processor embedded in a base, with a first robotic arm 2 and a second robotic arm 3 mounted on the base. The processor controls the first and second robotic arms 2 and 3 to connect to a first and a second clamp, respectively, for coordinated installation of the light fixture. Based on visual feedback from a camera 18, precise positioning of the light fixture during installation is achieved. During drilling, the encoder built into the drill 17 reads the number of drill bit rotations, ensuring the drill bit stops after a certain number of full rotations, thus guaranteeing the drilling depth meets the target value and achieving standardized drilling. This solves the problem of existing positioning drilling equipment failing to guarantee precise positioning and standardized drilling during light fixture installation in complex environments.

[0098] The intelligent installation device for the lamps provided by this invention has been described in considerable detail above. The control method of this installation device will be illustrated below through a specific embodiment.

[0099] In some specific embodiments, the control method for the lighting installation equipment is as follows:

[0100] S1:

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

[0102] S2:

[0103] The height is adjusted via a hydraulically driven scissor lift mechanism, and positioning is achieved using a positioning switch. The distance to the ceiling and walls is measured, and the parameters are fed back to the system for judgment. Once the desired position is reached, the lift mechanism stops moving.

[0104] S3:

[0105] A robotic arm connects to a gripper with flexible claws via a quick-change device. The quick-change device uses two connection methods: 1. Electrical interface control via electromagnet attraction; 2. Mechanical locking, which includes a guiding device. A high-resolution camera captures real-time images of the lighting fixture. Image preprocessing includes Gaussian blur denoising and histogram equalization to enhance contrast. ResNet-50 is used for lighting fixture recognition. Data augmentation enhances the model's generalization ability, and cross-entropy loss and the Adam optimizer are used during training. Faster R-CNN is used for object detection, and non-maximum suppression (NMS) is used to remove redundant boxes, outputting the lighting fixture's bounding box coordinates. OpenPose is used to determine the lighting fixture's pose and orientation, allowing the robotic arm to grasp it from the optimal angle. Combining the claw geometry, the recognized bounding boxes, and keypoint data, the optimal grasping point is calculated, setting an angle threshold (±5 degrees) and a distance error (±2 cm). The system applies the PPO reinforcement learning algorithm, training the robotic arm to select the optimal grasping path in a simulated environment and monitoring the distance between the gripper and the lighting fixture in real time to close the gripper at the appropriate time.

[0106] S4:

[0107] Another robotic arm connects to the drill bit via a quick-change device and uses the same camera to identify the drilling location. Mask R-CNN is employed for precise target location identification, and a virtual frame is set up near the target location. Mask R-CNN is primarily used for image segmentation and object detection, capable of identifying objects in an image and generating their precise segmentation masks, but it cannot directly control the robotic arm's movement. The robotic arm's motion path is calculated by the motion control system, which uses inverse kinematics to generate motion commands based on the coordinates of the virtual frame. The control system sends commands to the servo motors in real time, and position adjustments are made through encoder feedback. The encoder calculates the depth by recording the number of drill bit rotations. For each rotation, the encoder outputs a specific number of pulses. Through preset thread feed parameters, the number of rotations can be converted into the actual drilling depth, ensuring the robotic arm moves precisely to the designated position and guiding its motion trajectory to reach the correct drilling point. During drilling, a 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. A threshold is set (maximum pressure 5 kg) to ensure operation within a safe range and prevent excessive downward pressure (the drill bit pressing into the wall). A servo motor with an encoder controls the drill bit's raising and lowering. Raising and lowering refers to the drill bit's movement perpendicular to the ceiling plane as it drills into the ceiling. The control system collects encoder data in real time and calculates the difference between the current depth and the preset depth. When the preset depth is reached, the system triggers a stop signal, immediately stopping the motor to ensure accurate drilling depth. After drilling is complete, a camera captures the hole position, and an image processing algorithm (visual ranging) analyzes the hole's depth and diameter, measuring its roundness and smoothness to ensure they meet requirements. The system records drilling parameters (depth, diameter, pressure value) for subsequent tracking and quality control. If the drilling is substandard, the system automatically initiates an error handling process, such as adjusting the drilling position or re-drilling, and issues an alarm to notify the operator.

[0108] S5:

[0109] After the drilling robotic arm completes its work, a rigid gripper is used to pick up the bolt. The gripping location is typically the bolt cap. The gripper uses a vision system (high-resolution camera) to capture real-time images of the bolt, and image processing algorithms (such as those used for the light fixture gripping) determine the bolt's exact position and angle. The system then calculates the gripper's motion path relative to the bolt (inverse kinematics), adjusting the gripper position to ensure accurate gripping. As the gripper rotates, visual feedback is used to adjust the bolt's placement angle and position in real-time, ensuring it is correctly embedded in the hole within a set angle threshold (±3 degrees). A motor controls the gripper's rotation, screwing the bolt into the hole and monitoring torque to prevent over-tightening.

[0110] The intelligent mechanical device and installation method for lighting fixtures using the auxiliary machinery of this invention significantly improve the installation efficiency and safety of lighting fixtures and other items. Through the optimized design of the scissor lift platform and the six-axis robotic arm, the device achieves efficient movement and precise height adjustment, reducing labor costs. Furthermore, the collaborative work of the two robotic arms enhances work efficiency, while the combination of the locking device and sensor system ensures safety and stability during operation. Advanced motion control algorithms guarantee high-precision operation of the robotic arm in complex environments, making the overall installation process more efficient, accurate, and safe.

[0111] 1. Such home industrial products that combine high mobility and intelligent recognition capabilities are relatively rare, and this mechanical device provides a completely new solution for lighting installers.

[0112] 2. Multiple mechanical devices work together, allowing each device to move and lift freely, cooperating with each other to drill holes, clamp and install lamps, making it easy to adapt to installation needs at different heights and in different scenarios.

[0113] 3. Scissor lift mechanism: This structure provides superior load capacity and stability, enabling smooth lifting and lowering under different heights and load conditions, thus improving the safety and reliability of the equipment.

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

[0115] 3. Dual robotic arm collaborative work: A collaborative working mechanism of two robotic arms was 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 rapid replacement of different types of end effectors, improving the adaptability and ease of operation of the equipment.

[0117] 5. Optimized gripper design: The combination of flexible and rigid grippers allows the robotic arm to automatically adjust its gripping method according to the shape and weight of different objects, improving the safety and stability of gripping.

[0118] This embodiment is now complete, and the technical effects described in the disclosure document can be replicated in the same way.

[0119] The terms “module,” “unit,” “subunit,” etc., used below can refer to a combination of software and / or hardware that performs a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware implementation, 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 through software or hardware. For modules implemented through hardware, the above modules can reside 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 merely illustrative of the application and not intended to limit it. All other embodiments derived by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0122] Obviously, the accompanying drawings are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar situations based on these drawings without any creative effort. Furthermore, it is understood that although the work done in this development process may be complex and lengthy, for those skilled in the art, certain design, manufacturing, or production modifications made based on the technical content disclosed in this application are merely conventional technical means and should not be considered as insufficient disclosure of this application.

Claims

1. An intelligent installation device for lighting fixtures, characterized in that, include: The base, which houses the processor; The first robotic arm (2) and the second robotic arm (3) are mounted on the base. The drilling rig (17) is equipped with an encoder inside for collecting the number of rotations of the drill bit of the drilling rig (17). The drilling rig (17) can be detachably installed on the mechanical interface of the first robotic arm (2) through the third connector. The first clamp is detachably mounted on the mechanical interface of the first robotic arm (2) via a first connector; The second clamp can be detachably mounted on the mechanical interface of the second robotic arm (3) via the second connector; Three cameras (18) are respectively installed on the first connector, the second connector and the third connector; The processor is configured as follows: Control the camera (18) on the second connector, identify the lamps in the image through the ResNet-50 network model, and obtain the image of the lamps including the lamps; Combine Faster R-CNN to perform lighting detection on the lighting box selection image to obtain multiple detection boxes. Use NMS to remove redundant boxes in multiple detection boxes to obtain lighting bounding boxes and establish lighting bounding box coordinates. Use OpenPose to determine the posture and direction of the lighting fixture, and combine the lighting bounding box coordinates to control the second clamp to grab the lighting fixture from the optimal angle. According to the drilling image of the camera (18) on the third connector, use Mask R-CNN to analyze the drilling image to identify the drilling position. Set up a virtual frame near the drilling position. Use the first robotic arm (2) to control the drill (17) to drill at the drilling position to form an installation hole. During the drilling process, use the encoder to obtain the number of rotations of the drill bit of the drill (17). When the number of rotations of the drill bit reaches the target value, stop the drill bit rotation and exit the drill (17) from the installation hole. After the mechanical interface is separated from the third connector by the first robotic arm (2), the mechanical interface is connected to the first connector. The first robotic arm (2) replaces the drill (17) with the first clamp. The bolt image is collected by the camera (18) on the first clamp. The bolt in the image is identified by the ResNet-50 network model to obtain the bolt bounding box image including the bolt. The bolt bounding box image is detected by Faster R-CNN to obtain multiple detection boxes. The redundant boxes in the bolt bounding box image are removed by NMS to obtain the bolt bounding box and the bolt bounding box coordinates are established. The bolt posture and orientation are determined by OpenPose. Combined with the bolt bounding box coordinates, the first clamp is controlled to grab the bolt from the best angle. The lamp is moved to the mounting hole position by the second robotic arm (3) and the lamp holder is aligned with the mounting hole. During the assembly process, the orientation of the bolt is adjusted according to the camera (18) on the first clamp. The first robotic arm (2) controls the first clamp to assemble the bolt and the mounting hole.

2. The intelligent installation device for lamps according to claim 1, characterized in that, The first connector, the second connector, and the third connector have the same structure, which includes: A magnetic chuck and a cylindrical shell, wherein the magnetic chuck is fixed to the bottom surface of the cylindrical shell, and the magnetic chuck is magnetically connected to the mechanical interface of the first robotic arm (2) or the second robotic arm (3). The cylindrical casing accommodates the drilling rig (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.

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

4. The intelligent installation device for lamps according to claim 1, characterized in that, The second clamp is a three-jaw clamp, and its jaws are made of silicone material.

5. The intelligent installation device for lamps according to claim 1, characterized in that, A device frame (6) is fixed on the base. The device frame (6) is used to place lamps or drilling rigs (17) to be replaced or the first clamp or the second clamp. The intelligent installation equipment for the lamps also includes a mobile platform (1) and a scissor lift (9) mounted on the mobile platform (1). The mobile platform (1) includes 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). Sensors are mounted on the base plate for the processor to control the movement of the mobile platform (1). The scissor lift (9) is installed on the top of the base plate, and the base is installed on the lifting platform of the scissor lift (9). Sensors are installed on the scissor lift (9) for the processor to control the height of the scissor lift (9).

6. A control method for an intelligent installation device for lighting fixtures, applied to the intelligent installation device for lighting fixtures as described in claim 1, characterized in that, The control method is applied to the processor, and the control method includes: The position of the lamp is determined by the image captured by the camera (18) on the second connector, and the second clamp is controlled by the second robotic arm (3) to grab the lamp according to the position of the lamp; The drilling position is determined by the image captured by the camera (18) on the third connector. The drilling machine (17) is controlled by the first robotic arm (2) to drill at the drilling position to form an installation hole. During the drilling process, the number of rotations of the drill bit of the drilling machine (17) is obtained by the encoder. When the number of rotations of the drill bit reaches the target value, the drill bit stops rotating and exits the drilling machine (17) from the installation hole. After the mechanical interface is separated from the third connector by the first mechanical arm (2), the mechanical interface is connected to the first connector. The first clamp is gripped by the first mechanical arm (2), and the second mechanical arm (3) is coordinated with the first mechanical arm (2) to fix the lamp by the bolt and the mounting hole.

Images