An auxiliary installation device and human-machine collaborative installation method for prefabricated building fixtures

Abstract

This invention provides an auxiliary installation device and a human-machine collaborative installation method for prefabricated building fixtures, relating to the technical field of prefabricated building fixture installation. The auxiliary installation device includes a robot, a vision device, and a display device. The robot assists installers in moving the fixtures; the vision device collects features of the fixture to be installed and its surrounding preset range; the display device is connected to the vision device and displays the images collected by the vision device. With this auxiliary installation device, the robot assists installers in moving the fixtures. After the fixture is moved to its display interface, the installer can move it to its target position by observing the display interface. This achieves human-machine collaboration, saves physical effort, improves installation efficiency, and enables accurate installation with the help of the vision device and display device.

Description

Technical Field

[0001] This invention relates to the technical field of prefabricated building equipment installation, and more specifically, to an auxiliary installation device and a human-machine collaborative installation method for prefabricated building equipment. Background Technology

[0002] With the advancement of technology and the increasing diversity of people's needs, prefabricated buildings such as prefabricated bathrooms and prefabricated kitchens are constantly emerging. When manufacturing prefabricated buildings, the walls are usually prefabricated or the wall panels are assembled first, and then bathroom fixtures such as water heaters and toilets or kitchen appliances such as range hoods are installed inside.

[0003] In existing technologies, when installing appliances in prefabricated buildings, several installers usually work together to move the appliances, calibrate their positions, etc., which not only results in a large workload and low installation efficiency, but also low installation accuracy. Summary of the Invention

[0004] The first objective of this invention is to provide an auxiliary installation device for prefabricated building fixtures, in order to solve the technical problems of low installation efficiency and low precision of prefabricated building fixtures in the prior art.

[0005] The auxiliary installation equipment for prefabricated building fixtures provided by the present invention is used to assist installers in installing the fixtures to be installed to their actual target positions;

[0006] The auxiliary installation equipment includes a robot and a vision device. The robot is used to assist installers in moving the fixture to be installed. The vision device is used to collect the actual target position of the fixture to be installed and the features within a preset range around it.

[0007] The auxiliary installation equipment also includes a display device, which is connected to the vision device and is used to display the images acquired by the vision device.

[0008] Furthermore, both the vision device and the display device are connected to the robot's controller. The controller is able to acquire images collected by the vision device, identify the device to be installed and its actual target position in the images, calculate the distance between the device to be installed and its actual target position, and transmit the distance to the display device.

[0009] Furthermore, the display device is mounted on the robot's robotic arm.

[0010] Furthermore, the robot's robotic arm is equipped with a displacement sensor and an angle sensor, both of which are connected to the controller. The displacement sensor and the angle sensor are used to detect the actual pose of the robotic arm. The controller can calculate the difference between the actual pose of the robotic arm and its target pose and transmit the difference to the display device.

[0011] Furthermore, the robot's robotic arm is equipped with a connecting device at its end, which can be connected to the transport fixture of the device to be installed.

[0012] The auxiliary installation equipment for prefabricated building appliances provided by this invention can produce the following beneficial effects:

[0013] In the auxiliary installation equipment for prefabricated building fixtures provided by this invention, the robot can assist installers in moving the fixtures to be installed, thereby greatly saving the installers' physical strength and improving installation efficiency. Moreover, after the fixtures to be installed are moved to the display interface of the display device, the installers can move the fixtures to their actual target positions by observing the display interface and fix the fixtures to their actual target positions. That is, by setting up vision devices and display devices, installers can easily, conveniently, quickly and accurately move the fixtures to their actual target positions, and finally complete the accurate installation of the fixtures.

[0014] In summary, the auxiliary installation equipment for prefabricated building fixtures provided by this invention enables human-machine collaboration when installers use it to install fixtures, saving physical strength and improving installation efficiency. At the same time, it also enables accurate installation with the help of vision devices and display devices.

[0015] The second objective of this invention is to provide a human-machine collaborative installation method for prefabricated building fixtures, in order to solve the technical problems of low installation efficiency and low precision of prefabricated building fixtures in the prior art.

[0016] The present invention provides a human-machine collaborative installation method for prefabricated building equipment. Installers use the aforementioned auxiliary installation equipment for prefabricated building equipment to install the equipment to be installed to its actual target position. The human-machine collaborative installation method includes the following steps:

[0017] The installer operates the robot to lift the fixture to be installed and transport it to its theoretical target location within the prefabricated building.

[0018] With the help of the images captured by the vision device displayed on the display device, the installer adjusts the device to be installed to match its actual target position by operating the robot.

[0019] The installer will install the device to be installed at its actual target location.

[0020] Furthermore, both the vision device and the display device are connected to the robot's controller. The controller is able to acquire images collected by the vision device, identify the device to be installed and its actual target position in the images, calculate the distance between the device to be installed and its actual target position, and transmit the distance to the display device.

[0021] When the installer operates the robot to adjust the device to be installed to its actual target position, the installer also makes adjustments using the distance displayed on the display device.

[0022] Furthermore, the robot's robotic arm is equipped with a displacement sensor and an angle sensor, both of which are connected to the controller. The displacement sensor and the angle sensor are used to detect the actual pose of the robotic arm. The controller can calculate the difference between the actual pose of the robotic arm and its target pose and transmit the difference to the display device.

[0023] When the installer operates the robot to move the device to be installed to its theoretical target position, the difference displayed on the display device is used for measurement. If all values ​​of the difference are zero, then the actual pose of the robotic arm is consistent with its target pose, and the device to be installed has reached its theoretical target position.

[0024] Furthermore, the display device is mounted on the robot's robotic arm.

[0025] Furthermore, the end of the robot's robotic arm is provided with a connecting device, which can be connected to the transport fixture of the device to be installed;

[0026] When the installer operates the robot to move the fixture to be installed, the first step is to connect the connecting device to the transport tooling of the fixture to be installed, and then operate the robot to move the fixture to be installed.

[0027] The human-machine collaborative installation method for prefabricated building appliances provided by this invention can produce the following beneficial effects:

[0028] The present invention provides a human-machine collaborative installation method for prefabricated building fixtures. Installers use the aforementioned auxiliary installation equipment to install the fixture to its actual target position. First, the installer operates a robot to move the fixture to its theoretical target position for coarse positioning, which greatly saves physical effort and improves installation efficiency. After the fixture is moved to its display interface, the installer observes the display interface and moves the fixture to its actual target position for precise positioning, ultimately completing the accurate installation of the fixture. The precise positioning process, aided by vision and display devices, is easy, convenient, fast, and accurate for the installer. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0030] Figure 1 A structural block diagram of the auxiliary installation equipment for prefabricated building fixtures provided in an embodiment of the present invention;

[0031] Figure 2 A flowchart illustrating the human-machine collaborative installation method for prefabricated building fixtures provided in this embodiment of the invention. Detailed Implementation

[0032] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0033] This embodiment provides an auxiliary installation device for prefabricated building fixtures and a human-machine collaborative installation method for prefabricated building fixtures. The human-machine collaborative installation method involves installers using the auxiliary installation device to install the fixture to its target position. More specifically, the target position includes a theoretical target position and an actual target position. The theoretical target position can be set in advance, for example, through a display interface on a display device within the relevant program of the robot's controller. The reason for the existence of a theoretical target position and an actual target position is that prefabricated structures often have significant errors, so the actual target position of the fixture to be installed usually differs considerably from its theoretical target position. In this embodiment, the fixture to be installed is first moved to its theoretical target position, and then moved to its actual target position. Using this auxiliary installation device and this human-machine collaborative installation method can greatly reduce the workload of installers, save their physical strength, and significantly improve installation efficiency and accuracy. The following is a detailed description of the auxiliary installation device and the human-machine collaborative installation method.

[0034] First, the auxiliary installation equipment for prefabricated building fixtures provided in this embodiment will be introduced.

[0035] The auxiliary installation equipment for prefabricated building appliances provided in this embodiment is used to assist installers in installing the appliances to their actual target locations. Specifically, in this embodiment, taking a prefabricated bathroom as an example, the appliances include a toilet and a water heater.

[0036] Specifically, such as Figure 1 As shown, the auxiliary installation equipment provided in this embodiment includes a robot and a vision device. The robot assists installers in moving tools; the vision device is used to collect the actual target location of the tool to be installed and features within a preset range around it; the auxiliary installation equipment also includes a display device connected to the vision device to display the images collected by the vision device. Taking a prefabricated bathroom as an example of a prefabricated building, the tools to be installed may include a toilet and a water heater. Since the toilet has rigid pipes that need to connect to the outside, corresponding holes are left in the prefabricated walls of the prefabricated bathroom. At this time, the vision device can be set outside the prefabricated wall to collect images of the reserved holes and pipes on the prefabricated bathroom from the outside, so that installers can quickly and accurately install the toilet to its actual target location. When installing a water heater, the vision device can be set inside the prefabricated wall to collect images of the actual target location of the water heater and the installation structure on the water heater.

[0037] In the auxiliary installation equipment for prefabricated building fixtures provided in this embodiment, the robot can assist the installers in moving the fixtures to be installed, thereby greatly saving the installers' physical strength and improving installation efficiency. Moreover, after the fixtures to be installed are moved to the display interface of the display device, the installers can move the fixtures to their actual target positions by observing the display interface and fix the fixtures to their actual target positions. That is, by setting up vision devices and display devices, the installers can easily, conveniently, quickly and accurately move the fixtures to their actual target positions, and finally complete the accurate installation of the fixtures.

[0038] Specifically, in this embodiment, both the vision device and the display device are connected to the robot's controller. The controller can acquire images collected by the vision device, identify the appliance to be installed and its actual target position in the image, calculate the distance between the appliance to be installed and its actual target position, and transmit the distance to the display device. With this setup, when the human and machine collaboratively install the appliance, the display interface of the display device can display the distance between the appliance to be installed and its actual target position in real time, or the positional error. When installing a toilet, this distance can be the distance between the center of the pipe outlet and the center of the reserved hole. When the installer observes that the distance values ​​in all directions are zero, it means that the appliance to be installed has been adjusted into place and has reached its actual target position, which is very intuitive and convenient.

[0039] It should be noted that in this embodiment, the vision device and the display device are connected through the robot's controller. However, in other embodiments of this application, the display device may also be directly connected to the vision device to directly display the images captured by the vision device.

[0040] In this embodiment, the display device is mounted on the robot's robotic arm, which makes it convenient for installers to view.

[0041] In this embodiment, the robot's robotic arm is also equipped with displacement sensors and angle sensors, both connected to the controller. These sensors detect the actual pose of the robotic arm, and the controller calculates the difference between its actual pose and target pose, transmitting this difference to the display device. With this setup, when the robot and human collaboratively handle the implement to be installed, the display interface can show the real-time difference between the robotic arm's actual pose and its target pose, or in other words, the robotic arm's pose error. When the installer observes that the distance or angle values ​​in all directions have become zero, it indicates that the robotic arm has reached its target pose, and also that the implement to be installed has reached its theoretical target position; that is, the robotic arm's target pose and the implement's theoretical target position are consistent. Compared to position correction by the robot itself, this embodiment, where the installer adjusts the position using a vision device and display device, is less time-consuming and more efficient and accurate.

[0042] In this embodiment, the end effector of the robot's robotic arm is equipped with a connecting device that can be connected to the transport fixture of the appliance to be installed. When the installer operates the robot to move the appliance to be installed, they first connect the connecting device to the transport fixture of the appliance to be installed, and then operate the robot to move the appliance to be installed.

[0043] In this embodiment, the robot can be a gantry robot, an intelligent handling robot, or an AGV (Automated Guided Vehicle).

[0044] Next, the human-machine collaborative installation method for prefabricated building equipment provided in this embodiment will be introduced.

[0045] The human-machine collaborative installation method for prefabricated building fixtures provided in this embodiment involves installers using the aforementioned auxiliary installation equipment to install the fixture to its target location, such as... Figure 2 As shown, the human-machine collaborative installation method includes the following steps:

[0046] S100: The installer operates the robot to lift the equipment to be installed and move it to the theoretical target position of the equipment to be installed in the prefabricated building.

[0047] S200: With the help of images captured by a vision device displayed on a display device, installers use the robot to adjust the installation tool to match its actual target position.

[0048] S300: The installer places the appliance to be installed at its actual target location.

[0049] The human-machine collaborative installation method for prefabricated building fixtures provided in this embodiment involves installers using the aforementioned auxiliary installation equipment to install the fixtures to their target positions. First, the installer operates a robot to move the fixture to its theoretical target position for coarse positioning, significantly saving physical effort and improving installation efficiency. After the fixture appears on the display screen, the installer observes the display and moves it to its actual target position for precise positioning, ultimately completing the accurate installation. This precise positioning process, aided by vision and display devices, is easy, convenient, fast, and accurate for the installer.

[0050] Specifically, in this embodiment, since both the vision device and the display device are connected to the robot's controller, the controller can acquire images collected by the vision device, identify the device to be installed and its actual target position in the image, calculate the distance between the device to be installed and its actual target position, and transmit the distance to the display device. Therefore, when the installer adjusts the device to be installed to its actual target position by operating the robot, they also use the distance displayed on the display device to adjust the positional error of the device to be installed. When the installer observes that the distance values ​​in all directions are zero, it means that the device to be installed has been adjusted into place and has reached its actual target position, which is very intuitive and convenient.

[0051] Specifically, in this embodiment, the robot's robotic arm is equipped with displacement and angle sensors, both of which are connected to the controller. These sensors detect the actual pose of the robotic arm, and the controller calculates the difference between the actual pose and its target pose, transmitting this difference to the display device. Therefore, when the installer operates the robot to move the fixture to its theoretical target position, they use the difference displayed on the display device for reference. If all values ​​of the difference are zero, the actual pose of the robotic arm matches its target pose, and the fixture has reached its theoretical target position. While the installer operates the robot to move the fixture, they simultaneously observe the difference between the actual pose and its target pose, or the pose error of the robotic arm, displayed in real-time on the display interface. When the distance or angle values ​​in all directions become zero, it indicates that the robotic arm has reached its target pose, and the fixture has also reached its theoretical target position.

[0052] Specifically, in this embodiment, since the end of the robot's robotic arm is equipped with a connecting device that can connect to the transport fixture of the object to be installed, when the installer operates the robot to move the object, they first connect the connecting device to the transport fixture, and then operate the robot to move the object. Of course, if the end of the robotic arm is equipped with a material-grabbing device, such as a gripping device or a suction device, then the installer can operate the corresponding device to establish a fixed connection with the object to be installed in order to move the object.

[0053] In summary, the auxiliary installation equipment and human-machine collaborative installation method for prefabricated building fixtures provided in this embodiment can achieve human-machine collaboration, save the physical strength of installers, improve installation efficiency, and also achieve accurate installation.

[0054] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0055] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A man-machine collaborative installation method for fabricated building appliances, characterized by, Installers use auxiliary installation equipment for prefabricated building components to install the components to their actual target positions. The auxiliary installation equipment includes a robot and a vision device. The robot is used to assist installers in moving the components to be installed. The vision device is used to collect the actual target position of the components to be installed and the features within a preset range around them. The auxiliary installation equipment further includes a display device connected to the vision device, used to display images captured by the vision device; the human-machine collaborative installation method includes the following steps: The installer operates the robot to lift the fixture to be installed and move it to the theoretical target position within the prefabricated building; the theoretical target position is set in advance. With the help of the images captured by the vision device displayed on the display device, the installer adjusts the device to be installed to match its actual target position by operating the robot. The installer observes the display interface of the display device and installs the appliance to be installed at its actual target location. Both the vision device and the display device are connected to the robot's controller. The controller can acquire images collected by the vision device, identify the device to be installed and its actual target position in the image, calculate the distance between the device to be installed and its actual target position, and transmit the distance to the display device. When the installer operates the robot to adjust the device to be installed to its actual target position, the installer also makes adjustments using the distance displayed on the display device. The robot's robotic arm is equipped with a displacement sensor and an angle sensor, both of which are connected to the controller. The displacement sensor and the angle sensor are used to detect the actual pose of the robotic arm. The controller can calculate the difference between the actual pose of the robotic arm and its target pose and transmit the difference to the display device. When the installer operates the robot to move the device to be installed to its theoretical target position, the difference displayed on the display device is used for measurement. If all values ​​of the difference are zero, then the actual pose of the robotic arm is consistent with its target pose, and the device to be installed has reached its theoretical target position.

2. The method of claim 1, wherein, The display device is mounted on the robot's robotic arm.

3. The human-machine collaborative installation method for prefabricated building fixtures according to claim 1 or 2, characterized in that, The robot's robotic arm is equipped with a connecting device at its end, which can be connected to the transport fixture of the device to be installed. When the installer operates the robot to move the fixture to be installed, the first step is to connect the connecting device to the transport tooling of the fixture to be installed, and then operate the robot to move the fixture to be installed.

4. The human-machine collaborative installation method for prefabricated building fixtures according to claim 1, characterized in that, Both the vision device and the display device are connected to the robot's controller. The controller can acquire images collected by the vision device, identify the device to be installed and its actual target position in the image, calculate the distance between the device to be installed and its actual target position, and transmit the distance to the display device.

5. The human-machine collaborative installation method for prefabricated building fixtures according to claim 4, characterized in that, The display device is mounted on the robot's robotic arm.

6. The human-machine collaborative installation method for prefabricated building fixtures according to claim 4, characterized in that, The robot's robotic arm is equipped with a displacement sensor and an angle sensor, both of which are connected to the controller. The displacement sensor and the angle sensor are used to detect the actual pose of the robotic arm. The controller can calculate the difference between the actual pose of the robotic arm and its target pose and transmit the difference to the display device.

7. The human-machine collaborative installation method for prefabricated building fixtures according to any one of claims 4-6, characterized in that, The robot's robotic arm has a connecting device at its end, which can be connected to the transport fixture of the device to be installed.

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