A visible laser sensing device for building intelligent robots

Abstract

The present invention discloses a visible laser sensing device for a building intelligent robot, comprising: a building robot body; a visible light visual sensor, which is arranged at the front side of the building robot body; an EVS visual sensor, a driving mechanism is arranged below the EVS visual sensor, the driving mechanism comprises a linear guide and a first rotating seat, the first rotating seat is fixedly mounted on a slider of the linear guide, the first rotating seat comprises a base and an upper seat body, a driving motor is arranged on the base, the upper seat body is fixedly mounted on the output shaft of the driving motor, and the EVS visual sensor is fixedly mounted on the upper seat body; wherein, the building robot body is provided with three EVS visual sensors arranged in a "pin" shape. Compared with the prior art, the present invention solves the problem that personnel intrude into the movement radius of the mechanical arm during the working process of the building robot, which easily causes personal safety risks.

Description

Technical Field

[0001] The invention relates to the technical field of construction robots, and in particular to a visible laser sensor device of a construction intelligent robot. Background Art

[0002] In the current construction process, in order to improve construction efficiency and quality, construction robots can be used to replace manual operations in the links of steel bar welding, steel bar bundling, material cutting, material transportation, etc. For example, Chinese patent CN115972174B discloses a construction robot and a visual recognition and positioning method for construction nodes thereof, including: a base plate, with electric rollers installed at opposite ends respectively; a jacking mechanism provided below the base plate, the top of which is installed on the bottom of the base plate through a translation mechanism; a steel bar binding machine, which is movably installed on the base plate through a mechanical arm; a visual sensor, which is installed on the mechanical arm; a controller, including a control module, an acquisition module, a transformation template, a fixed-point module, an optimization module, a calculation module, and a conversion module, wherein the control module is connected to the electric roller, the jacking mechanism, the translation mechanism, the steel bar binding machine, the mechanical arm and the visual sensor, the acquisition module is connected to the control module, the transformation module is connected to the acquisition module, the fixed-point module is connected to the transformation module, the optimization module is connected to the fixed-point module, the calculation module is connected to the optimization module, and the conversion module is connected to the optimization module and the control module.

[0003] When a construction robot moves to the target location for construction, due to the complex flow of personnel on the construction site, if the construction workers who are too close to the construction robot are not discovered in time and allow them to enter and exist within the movement radius of the robotic arm, it will cause safety risks such as injury to the construction workers. Summary of the invention

[0004] The purpose of the present invention is to provide a visible laser sensor device for a construction intelligent robot to solve the problem of personnel intruding into the movement radius of the robot arm during the operation of the construction robot, causing personal safety risks.

[0005] In order to achieve the above object, the present invention adopts the following technical solution: a visible laser sensor device for a building intelligent robot, comprising:

[0006] Construction robot body;

[0007] A visible light vision sensor is arranged on the front side of the construction robot body;

[0008] The EVS visual sensor has a driving mechanism disposed below it. The driving mechanism includes a linear guide rail and a first rotating seat. The first rotating seat is fixedly mounted on the slider of the linear guide rail. The first rotating seat includes a base and an upper seat body. A driving motor is disposed on the base. The upper seat body is fixedly mounted on the output shaft of the driving motor. The EVS visual sensor is fixedly mounted on the upper seat body.

[0009] Among them, three EVS vision sensors arranged in a "pin" shape are provided on the construction robot body.

[0010] As a further description of the above technical solution:

[0011] The visible light vision sensor is rotatably installed on the construction robot body.

[0012] As a further description of the above technical solution:

[0013] A second rotating seat and a servo motor are provided on the construction robot body. The second rotating seat is rotatably installed on the construction robot body. The visible light vision sensor is fixedly installed on the second rotating seat. A gear ring is provided on the outer side of the second rotating seat. A gear is provided on the output shaft of the servo motor. The gear meshes with the gear ring.

[0014] As a further description of the above technical solution:

[0015] The bottom of the second rotating seat is provided with a hemispherical bottom surface.

[0016] As a further description of the above technical solution:

[0017] A hemispherical groove body is provided on the second rotating seat. The hemispherical seat body is rotatably installed in the hemispherical groove body. The visible light vision sensor is fixedly installed on the hemispherical seat body. An extension edge is provided on one side of the hemispherical seat body. The extension edge extends to the surface of the second rotating seat.

[0018] As a further description of the above technical solution:

[0019] Magnets are provided on the back of the extension edge. The magnets are used to adsorb the hemispherical seat body on the upper surface of the second rotating seat.

[0020] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0021] 1. In the present invention, the visible light vision sensor on the front side of the construction robot body is used to collect images and identify whether there are obstacles. After moving to the construction position, the EVS vision sensors on the left and right sides and the rear side of the construction robot body are activated to identify whether there are moving objects on the left and right sides and the rear side of the construction robot body, so as to avoid personnel invading the movement radius of the robotic arm during the operation of the construction robot. Since the EVS vision sensor can only detect moving objects, while eliminating the personal safety risks brought by personnel invasion during construction, it also protects the personal privacy of construction workers on the construction site and the technological secrets of building construction.

[0022] 2. In the present invention, during the image acquisition process of the EVS visual sensor, based on the range of motion of the mechanical arm during the construction process of the construction robot, the three EVS visual sensors can slide along the linear guide rail to adjust the spacing, thereby adjusting the effective acquisition range of the EVS visual sensor when acquiring images, and the driving motor on the base can drive the upper seat to rotate on the horizontal plane. In this way, the acquisition angles of the three EVS visual sensors can be adjusted, effectively eliminating the blind spots of image acquisition and improving the image acquisition quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 A schematic diagram of the structure of a visible laser sensor device for a building intelligent robot Figure 1 .

[0025] Figure 2 A schematic diagram of the structure of a visible laser sensor device for a building intelligent robot Figure 2 .

[0026] Figure 3 for Figure 2 A partial enlarged view of point A in the middle.

[0027] Figure 4 for Figure 2 A partial enlarged view of point B in the middle.

[0028] Figure 5 A cross-sectional view of a visible laser sensor device for a building intelligent robot Figure 1 .

[0029] Figure 6 A cross-sectional view of a visible laser sensor device for a building intelligent robot Figure 2 .

[0030] Figure 7 for Figure 6 A partial enlarged view of point C in the middle.

[0031] Legend:

[0032] 1. Construction robot body; 11. Second rotating seat; 111. Ring gear; 12. Servo motor; 121. Gear; 113. Hemispherical groove body; 114. Hemispherical seat body; 115. Extension edge; 2. Visible light vision sensor; 3. EVS vision sensor; 4. Driving mechanism; 41. Linear guide rail; 411. Slide block; 42. First rotating seat; 421. Base; 422. Upper seat body. Detailed implementation mode

[0033] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Generally, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0035] Embodiment 1

[0036] Please refer to Figure 1-7 , the present invention provides a technical solution: a visible laser sensing device for a construction intelligent robot, including:

[0037] Construction robot body 1;

[0038] Visible light vision sensor 2, which is arranged on the front side of the construction robot body 1;

[0039] EVS vision sensor 3, below which there is a driving mechanism 4. The driving mechanism 4 includes a linear guide rail 41 and a first rotating seat 42. The first rotating seat 42 is fixedly installed on the slide block 411 of the linear guide rail 41. The first rotating seat 42 includes a base 421 and an upper seat body 422. A driving motor is arranged on the base 421, and the upper seat body 422 is fixedly installed on the output shaft of the driving motor. The EVS vision sensor 3 is fixedly installed on the upper seat body 422;

[0040] Among them, three EVS vision sensors 3 arranged in a "pin" shape are provided on the construction robot body 1.

[0041] Working principle: The visible light vision sensor 2 on the front side of the construction robot body 1 is used to collect images, identify whether there are obstacles, and move to the construction position. The EVS vision sensors 3 on the left and right sides of the construction robot body 1 and the EVS vision sensor 3 on the rear side are started to identify whether there are moving objects on the left and right sides and the rear side of the construction robot body 1, so as to avoid personnel intrusion into the movement radius of the mechanical arm during the construction robot. Since the EVS vision sensor 3 can only detect moving objects, while eliminating the personal safety risks caused by personnel intrusion during the construction process, it also protects the personal privacy of construction workers on the construction site and the process secrets of construction. During the image acquisition process of the EVS vision sensor 3, based on the range of motion of the mechanical arm during the construction process of the construction robot, the three EVS vision sensors 3 can slide along the linear guide rail 41 to adjust the spacing, so as to adjust the effective acquisition range of the EVS vision sensor 3 when acquiring images, and on the other hand, the drive motor on the base 421 can drive the upper seat 422 to rotate on the horizontal plane. In this way, the acquisition angles of the three EVS vision sensors 3 are adjusted to effectively eliminate the blind spots of image acquisition and improve the image acquisition quality.

[0042] Example 2

[0043] This embodiment further makes the following technical solution as an improvement on the above embodiment: the visible light vision sensor 2 is rotatably mounted on the construction robot body 1. The construction robot body 1 is provided with a second rotating seat 11 and a servo motor 12, the second rotating seat 11 is rotatably mounted on the construction robot body 1, the visible light vision sensor 2 is fixedly mounted on the second rotating seat 11, a gear ring 111 is arranged on the outer side of the second rotating seat 11, and a gear 121 is arranged on the output shaft of the servo motor 12, and the gear 121 is meshed with the gear ring 111.

[0044] When the visible light vision sensor 2 is collecting images, the servo motor 12 can drive the gear ring 111 to rotate through the gear 121, and then drive the second rotating seat 11 to rotate, so as to adjust the image collection angle of the visible light vision sensor 2. In addition, when the construction robot is working, the two visible light vision sensors 2 can be rotated not to face the construction position to protect the construction process secrets.

[0045] Example 3

[0046] This embodiment further provides the following improved technical solutions based on the above embodiments: a hemispherical bottom surface 112 is provided at the bottom of the second rotating seat 11, so that the second rotating seat 11 has no rotation angle restriction and rotates smoothly.

[0047] Example 4

[0048] The present embodiment further provides the following improved technical solutions on the basis of the above embodiments: a hemispherical groove 113 is provided on the second rotating seat 11, a hemispherical seat body 114 is rotatably installed in the hemispherical groove 113, a visible light vision sensor 2 is fixedly installed on the hemispherical seat body 114, an extension edge 115 is provided on one side of the hemispherical seat body 114, and the extension edge 115 extends to the surface of the second rotating seat 11.

[0049] The visible light vision sensor 2 on the hemispherical seat 114 can be hidden by rotating the hemispherical seat 114 through the extended edge 115. The visible light vision sensor 2 is rotated 180 degrees and then stored in the hemispherical groove 113 to hide and protect the visible light vision sensor 2. The secret of the construction process is further protected by physically storing the visible light vision sensor 2.

[0050] The extended edge 115 is fan-shaped, which is convenient for holding and operation.

[0051] Example 5

[0052] This embodiment further provides the following improved technical solutions based on the above embodiments: a magnet is provided on the back of the extension edge 115, and the magnet is used to adsorb the hemispherical seat 114 to the upper surface of the second rotating seat 11. When the visible light vision sensor is in use, the hemispherical seat 114 is adsorbed by the magnet to achieve position locking, thereby ensuring the quality of image acquisition.

[0053] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A visible laser sensor device for a building intelligent robot, characterized in that: Including: The body of a construction robot; A visible light vision sensor, which is arranged on the front side of the body of the construction robot; An EVS vision sensor, with a driving mechanism arranged below it. The driving mechanism includes a linear guide rail and a first rotating seat. The first rotating seat is fixedly installed on the slider of the linear guide rail. The first rotating seat includes a base and an upper seat body. A driving motor is arranged on the base. The upper seat body is fixedly installed on the output shaft of the driving motor. The EVS vision sensor is fixedly installed on the upper seat body; Among them, three of the EVS vision sensors are arranged on the body of the construction robot in a "pin" shape layout.

2. The visible laser sensor device of a building intelligent robot according to claim 1, characterized in that: The visible light vision sensor is rotatably installed on the body of the construction robot.

3. The visible laser sensor device of a building intelligent robot according to claim 2, characterized in that: A second rotating seat and a servo motor are arranged on the body of the construction robot. The second rotating seat is rotatably installed on the body of the construction robot. The visible light vision sensor is fixedly installed on the second rotating seat. A gear ring is arranged on the outside of the second rotating seat. A gear is arranged on the output shaft of the servo motor. The gear meshes with the gear ring.

4. The visible laser sensor device of a building intelligent robot according to claim 3, characterized in that: The bottom of the second rotating seat is provided with a hemispherical bottom surface.

5. The visible laser sensor device of a building intelligent robot according to claim 3, characterized in that: A hemispherical groove body is arranged on the second rotating seat. A hemispherical seat body is rotatably installed in the hemispherical groove body. The visible light vision sensor is fixedly installed on the hemispherical seat body. An extension edge is arranged on one side of the hemispherical seat body. The extension edge extends to the surface of the second rotating seat.

6. The visible laser sensor device of a building intelligent robot according to claim 5, characterized in that: The extension edge is fan-shaped.

7. The visible laser sensor device of a building intelligent robot according to claim 5, characterized in that: A magnet is arranged on the back of the extension edge. The magnet is used to adsorb the hemispherical seat body on the upper surface of the second rotating seat.

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