Universal work platform robot and control method

Abstract

A universal work platform robot is composed of a main beam, column legs at the two ends of the main beam, a sliding table on the main beam, a reel, a cable, a control panel and the like. The universal operation platform robot is similar to a balance beam and is simple in structure. Meanwhile, the detection and identification problem that complex scenes cannot be distinguished through suction cup adsorption is solved, and the detection method and the control method for effectively distinguishing the actual scene of the wall face are achieved through the technical means mainly including laser, machine vision and the like.

Description

Technical Field

[0001] The present invention relates to the technical fields of curtain wall glass cleaning, curtain wall inspection and the like, and in particular to a universal working platform robot for curtain wall glass cleaning and curtain wall inspection. Background Art

[0002] At present, the cleaning and inspection of curtain wall glass surfaces are carried out by different cleaning robots and inspection robots, which have problems such as non-versatility, complex structure and low utilization rate. At the same time, the stable control method of the robot when moving on the wall uses multiple suction cups to adhere to the wall to ensure its stability on the wall. Since the wall has complex scenes such as glass, rubber strips, frames, and light strips, conventional methods use ultrasonic or millimeter-wave radars with extremely large errors to identify wall scenes by collecting distances. However, laser radars with high speed and high accuracy cannot detect wall scenes because glass does not reflect light. Defects make it impossible to apply it on glass, but the waterproof strips, decorative stickers and other decorative objects on the curtain wall surface are not on the same plane as the glass surface, resulting in certain small steps, and ultrasonic or millimeter wave radars cannot effectively identify errors within 5MM (or data errors are generated due to excessive data jumps), resulting in the inability to detect tiny steps such as wall glass and strips, decorations, and stickers, causing the suction cup to fail to seal when adsorbed to the wall, causing the robot to have fatal problems such as unstable adsorption on the wall, and unable to identify and solve the reliability of its stable adsorption and the risk of falling. Summary of the invention

[0003] In order to overcome the shortcomings of the background technology, the present invention provides a universal working platform robot, which consists of a main beam, column legs at both ends of the main beam, a slide on the main beam, a reel, cables and a control panel. It is a universal working platform robot with a simple structure similar to a balance beam. It also solves the problem that suction cup adsorption cannot distinguish the detection and recognition of complex scenes, and adopts technical means mainly based on laser and machine vision to solve the detection method and control method for effectively identifying the actual scene on the wall.

[0004] To achieve the above object, the present invention adopts the following technical solution.

[0005] A specific structure of a universal working platform robot, including a main beam, column legs at both ends of the main beam, a slide on the main beam, a reel, cables and a control panel; The main beam of the universal working platform robot is an "I" structure, which is made of lightweight and high-strength materials such as carbon fiber. Column legs are installed at both ends of the main beam, and the shape is similar to a balance beam. Its extremely simple structure and extremely light and high-strength material ensure the lightweight and reliability of the platform robot, and also greatly reduce the manufacturing cost. At the same time, the "I" structure also enhances the adaptability of the suction cup travel path to the scene; Between the two column legs of the main beam of the general working platform robot, a slide required for the working tool is installed, and the slide is controlled to move between the main beams by the motor in the slide according to the working needs (the motor is installed with rubber wheels and contacts the main beam to drive the slide or the gear is installed to mesh with the main beam to drive the slide, which is a conventional mechanical technology and will not be described in detail), and a column leg with rotating and telescopic functions is installed at the center of the surface close to the wall to realize adsorption and robot steering control; at the same time, as a general tool installation platform, the slide is provided with installation interfaces for various working modules (such as manipulators, brush wheels, nozzles, inspection equipment, cameras, water pumps, etc.), and the required working modules are adapted and installed through modular functions according to the needs of the scene; The column legs of the universal working platform robot are connected to the main beam by hinges, and their rotation is controlled by a motor to achieve obstacle avoidance and folding. At the same time, the column legs are also telescopic structures, and strong suction cups are installed at the ends in contact with the wall. The strong suction cups are controlled by micro-motors in the column legs to rotate and amplify the torque of the screw rod, thereby reducing the weight of the body and achieving effective control of the suction cup pulling and releasing. The suction cup is also controlled by the screw rod rotating to amplify the torque. It is also beneficial that the problem of the suction cup loosening during power failure is solved. The reverse pulling force is caused by the motor stopping working, so that the screw rod cannot rotate, and the direct pulling force is borne by the screw thread itself, thereby solving the safety problem of the suction cup falling due to loosening caused by accidents such as power failure. A large gear ring is arranged on the outer diameter of the column leg of the universal working platform robot slide, which meshes with the small gear of the micromotor, and realizes steering control by amplifying the torque. When turning, the column leg of the slide is adsorbed and fixed to the wall, and the suction cups at both ends of the main beam are loosened. The central control unit controls the motor to start, driving the main body to realize steering movement in any direction on the wall, thereby solving the steering problem of the robot when turning on the wall and in complex scenes.

[0006] The universal work platform robot is provided with water, electricity, communication and other pipelines by a cable reel placed on the top of the building, and is adapted and called according to work requirements. At the same time, its pipeline is made of soft rubber with a tensile and explosion-proof mesh interlayer woven inside the pipe wall to meet the tensile strength required for long-distance pipeline transportation, and is used as a safety anti-fall protection device to avoid the addition of additional safety cables, thereby reducing production costs and reducing possible entanglement interference with the wall robot.

[0007] The universal work platform robot is equipped with a control panel (including a display screen) at the rooftop reel end to control the machine and remotely monitor operations or control robot operations.

[0008] The central control unit of the universal working platform robot is installed inside the main beam or the slide, and provides the robot with various motor, sensor, communication and control services.

[0009] A universal work platform robot is used to solve the fatal defect that the suction cup cannot distinguish the subtle steps on the wall in the complex scene described in the background. The present invention discloses and solves the technical methods of detection, identification and control: Method 1: ultrasonic or microwave ranging radars are installed at the front and rear ends of the robot to detect whether the robot has reached the wall boundary and ensure that the robot always runs on the wall. Laser ranging radars and sensors are installed on each column leg. The characteristic that laser cannot reflect when measuring the distance of glass is used. If the measured distance is greater than the distance between the robot and the actual glass wall (the distance of the reflective object behind the glass can be obtained), it can be determined that the measured position is the glass plane, and the column leg can be extended and effectively adsorbed (and the contact state is fed back by the sensor at the suction cup end). When the laser detects that the actual data of the wall is the normal distance (or close) between the machine and the wall, it can be determined to be a small step such as a rubber strip, decoration or sticker that affects the close fit of the suction cup (non-glass area, there is normal laser reflection and measurement is completed). At this time, the column leg is controlled by the system to retreat a distance greater than the diameter of the suction cup on the forward stroke. If it is detected again and determined to be a glass area, it can be extended for adsorption and fixation, thereby turning the defect that the laser cannot be applied to glass measurement into an effective and preferred method for identifying glass, which is used as a reliable detection technology means and robot control method for the column leg suction cup to identify the adsorption position.

[0010] Method 2: Since the robot structure of the present invention is a simple "I"-shaped structure, all column legs are located on the main beam and are in a "I"-shaped single-line path when moving forward, thereby reducing the need for the suction cups to be dispersed in multiple areas to identify obstacles and the demanding requirements for the scene, greatly enhancing the scene adaptability and reliability of the robot, by installing a machine vision sensor at the forward end of the robot, collecting data such as the color, lines, size, and area of ​​the wall during movement, to determine the specific position and area area data of glass, rubber strips or decorations, etc., and by calculating and controlling the column legs through the central controller to select a suitable position with a single area larger than the suction cup during movement to complete adsorption (such as the single area of ​​the adsorption area is larger than the suction cup, avoiding the slight step generated by the intersection of the two to ensure that the suction cup can be sealed and effectively adsorbed), as a reliable technical means for identifying the adsorption position of the column legs; at the same time, machine vision sensors can also be installed for each column leg, and through detection and identification and the controller controlling the column legs to retreat and avoid technical means, the column legs can be reliably adsorbed to the wall each time, thereby constructing a complete and reliable detection, identification method and robot control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments: Figure 1 It is a main schematic diagram of the universal working platform robot of the present invention.

[0012] Figure 2This is a schematic diagram of installing a manipulator on the universal platform of the working platform robot of the present invention.

[0013] Figure 3 This is a schematic diagram of installing a robot and a visual mechanism on a universal platform of a work platform robot for inspection in the present invention.

[0014] Figure 4 This is a schematic diagram of installing a brush wheel and a nozzle on the universal platform of the working platform robot for cleaning according to the present invention.

[0015] Figure 5 The invention discloses a column leg rotating mechanism for a robot slide table of a working platform.

[0016] The components in the accompanying drawings are marked as: working platform robot a, reel b, control panel c, main beam 1, column leg 2, slide 3, suction cup 4, hinge 5, gear 6, motor 7, laser ranging radar 8, machine vision module 8a, inspection vision mechanism 9, manipulator 10, brush wheel 11, and nozzle 12. DETAILED DESCRIPTION

[0017] In order to facilitate understanding of the technical features of the present invention, the present invention is further described below with reference to the accompanying drawings and in combination with specific embodiments. Please refer to the accompanying drawings. The general working platform robot a described in the present invention is adsorbed on the wall glass through the column leg 2 suction cups 4 installed at both ends of the main beam 1, so as to achieve the purpose of stable operation of the working platform robot a on the wall. The slide 3 on the main beam 1 is used to move back and forth (the motor 7 shaft wheel or gear 6 in the slide 3 is in contact with the main beam 1, and is started and stopped by the central control unit), driving the various working modules (such as the manipulator 10, or the inspection visual mechanism 9, or the brush wheel 11 and the nozzle 12) installed on the slide 3 according to the working demand scene, to move between the two column legs 2 of the main beam 1 and complete various operations such as cleaning or inspection of the wall. After completing the current area, the column legs 2 extended from the slide 3 are adsorbed on the wall, and the column legs 2 at both ends of the main beam 1 release the suction cups 4, and avoid the obstacles encountered when the main beam 1 is driven forward by the slide 3 by contracting the column legs 2 or folding. When reaching the appropriate position, the column legs 2 of the main beam 1 are driven by the laser ranging radar 8 or machine vision installed thereon. The sensor module 8a identifies that its area meets the adsorption requirements and completes the adsorption. If the adsorption position does not meet the requirements (such as non-glass plane will cause the suction cup 4 to fail to seal, and there is a risk of the equipment falling from a high altitude), the system controls the leg 2 to retreat in the current stroke, and its retreat distance is greater than the diameter of the suction cup 4 to select another adsorption area, complete identification and avoidance, and successfully adsorb, so as to achieve adsorption detection, identification and avoidance control of complex wall surfaces, and then the slide 3 moves on the main beam 1 and continues to work; at the same time, the column leg 2 of the slide 3 has a rotation function to achieve steering. When turning, after its adsorption is stable, the outer diameter peripheral rack is used to engage with the motor 7 gear 6 to achieve rotation for the work platform robot a to turn or make the required angle (posture) adjustment in complex scenes, so that the work platform robot a can move in all directions on the wall, thereby solving the limitation of the work platform robot a walking in one direction on the wall, greatly improving the efficiency of the operation, the adaptability of the scene and the controllability of the operation; At the same time, the reel b placed on the top of the building adapts to the water, electricity, communication and other pipelines to connect the working platform robot a according to the work requirements, and the hose with a tensile-resistant explosion-proof mesh interlayer woven on the pipe wall provides it with safety and anti-fall protection. In special environments, the working platform robot a is taken over manually through the control panel (including monitor), which greatly improves the safety, practicality and operability of the working platform robot a.

[0018] The universal working platform robot a is provided with a control panel c (including a display screen) at the end of the rooftop reel b, so as to realize the control of the working platform robot a and remote monitoring or manipulation of the manipulator 10 and other operations.

[0019] The above embodiments show and describe the basic principles and main structural features of the present invention. Without departing from the spirit and scope of the present invention, the present invention may be subject to various changes and improvements, which are all within the scope of the present invention to be protected.

Claims

1. A general-purpose working platform robot, characterized in that: The robot consists of a main beam, column legs at both ends of the main beam, and a slide on the main beam, and is connected to a rooftop reel and a control panel (including a monitor). A hose with a tensile and explosion-proof mesh interlayer on the wall provides safety and anti-fall protection. In special environments, the robot can be manually controlled through a control panel (including a monitor). The column legs of the universal working platform robot are connected to the main beam by hinges, and their rotation is controlled by motors to achieve obstacle avoidance and folding. At the same time, the column legs are also telescopic structures, and strong suction cups are installed at the ends in contact with the wall. The strong suction cups are controlled by micro-motors in the column legs to rotate the screw rods to amplify the torque for pulling and releasing control; The column leg suction cups at both ends of the main beam of the universal working platform robot are adsorbed on the wall glass to achieve stability, and the working module installed on the slide on the main beam is moved back and forth to achieve the work; The column legs of the universal work platform robot slide are provided with a large gear ring that meshes with the small gear of the micro motor to amplify the torque and steering control. When turning, the column legs of the slide are adsorbed and fixed to the wall, and the suction cups at both ends of the main beam are loosened. The central control unit controls the motor to start, driving the work platform to realize steering movement in any direction on the wall. At the same time, in order to solve the problem of being unable to detect and identify complex scenes when the suction cup is adsorbed, detection technologies such as laser and machine vision are used to solve the detection, identification and control methods that effectively identify the actual scenes on the wall.

2. A universal working platform robot according to claim 1, characterized in that: The universal working platform robot has a simple structure similar to a balance beam and is in the shape of an "I". All column legs are located at both ends of the main beam and on the main beam slide. The three column legs are arranged in a line or close to a line, which helps to reduce the excessive dispersion of suction cups during forward movement and the installation of suction cups on a too wide body, resulting in large-area and multi-region obstacle identification and stringent requirements for scenes, thereby greatly enhancing the robot's adaptability and reliability to complex scenes.

3. A universal working platform robot according to claim 1, characterized in that: The universal working platform robot utilizes a small micro motor to control the lead screw to amplify the torque, thereby reducing the weight of the main body and effectively controlling the pulling and releasing of the suction cup. The benefit of controlling the suction cup by amplifying the torque by rotating the lead screw is that it solves the problem of the suction cup loosening during power outages. The reverse pulling force is borne by the screw thread itself due to the motor stopping working, which makes the lead screw unable to rotate. This solves the safety problem of the robot falling due to loose adsorption caused by accidents such as power outages.

4. The universal working platform robot according to claim 1, characterized in that: The universal working platform robot is adsorbed on the wall glass by the column leg suction cups at both ends of the main beam to achieve its stability on the wall. The slide on the main beam moves back and forth (the motor shaft wheel or gear in the slide is in contact with the main beam and is started and stopped by the central control unit), driving the optional working module on the slide (such as a manipulator, or an inspection visual mechanism, or a brush wheel and a nozzle, etc.) to move between the two column legs of the main beam and complete operations such as cleaning or inspecting the wall. After completion, the column legs extended from the slide are adsorbed on the wall, and the column legs at both ends of the main beam release the suction cups, and avoid obstacles encountered when the main beam is driven forward by the slide by contracting the column legs or folding, and then reach a suitable position to be adsorbed and fixed again.

5. The universal working platform robot according to claim 1, characterized in that: The universal working platform robot A large gear ring is set on the outer diameter of the column leg of the slide, which meshes with the small gear of the micromotor to achieve torque amplification and steering control, solving the problem of the robot moving and steering in any direction during operation, breaking through the limitation of one-way walking, and greatly improving the efficiency of the operation, adaptability and controllability of the scene, and the steering control problem in complex scenes.

6. The universal working platform robot according to claim 1, characterized in that: The universal work platform robot is connected to the rooftop reel, control panel (including monitor), water, electricity, communication and other pipelines, and is appropriately configured according to work requirements. The tube wall is woven with a tensile-resistant explosion-proof mesh sandwich hose to provide it with safety and anti-fall protection. No additional safety rope is added, so as to reduce costs and entanglement interference with the wall robot. In special circumstances, manual takeover can be carried out and the robot or the manipulator installed on the slide can be controlled through the control panel.

7. The universal working platform robot according to claim 1, characterized in that: The universal working platform robot places a slide on the main beam, and sets various working module tool nodes (such as a manipulator, or an inspection visual mechanism, or a brush wheel and a nozzle, etc.) to form a common installation platform, thereby solving the problem of installation interfaces of various optional application tool modules in a variety of usage scenarios and application fields, enhancing the flexibility and adaptability of the application, achieving cost reduction and efficiency improvement, and improving work efficiency.

8. The universal working platform robot according to claim 1, characterized in that: The universal work platform robot is used to solve the detection, identification and control methods: ultrasonic or microwave ranging radars are installed at the front and rear ends of the robot to detect whether the robot has reached the wall boundary and ensure that the robot is always adsorbed on the wall. Laser ranging radars and sensors are installed on each column leg respectively. The non-reflective property of glass to ranging laser is used. If the measured distance is greater than the distance between the robot and the actual glass wall (the distance to the reflective object behind the glass is obtained), it can be determined that the position is a glass plane, and the column leg can be extended and adsorbed (and the contact state is fed back by the sensor at the suction cup end). When the laser detects that the actual data of the wall is that the machine and the wall are at a normal distance (or close), it can be determined that it is a small step (non-glass area) such as a rubber strip, a decoration or a sticker that affects the close fit of the suction cup. At this time, the column leg is controlled by the system to retreat a distance greater than the diameter of the suction cup on the distance of the forward stroke. After detection and identification again to determine that it is a glass area, it can be extended and adsorbed and fixed, so that the defects of the laser in glass measurement become the preferred identification method for identifying glass, which is used as a reliable detection technology means and robot control method for identifying the adsorption position of the column leg.

9. The universal working platform robot according to claim 1, characterized in that: The universal work platform robot is used to solve the detection, identification and control methods: since the robot structure of the present invention is a simple "I"-shaped structure, all column legs are located on the main beam and are on a "I"-shaped single-line path when moving forward, the need for the suction cups to be dispersed in multiple areas to identify obstacles and the demanding requirements on the scene are reduced, and the scene adaptability and reliability of the robot are greatly enhanced. By installing a machine vision sensor at the forward end of the robot, the color, lines, size, area size and other data of the wall are collected during the movement to determine the specific position and area area data of glass, rubber strips or decorations, etc., and the central controller calculates and controls the column legs to select a suitable position during the movement to complete the adsorption (such as the single area of ​​the adsorption area is larger than the suction cup, avoiding the slight step generated by the intersection of the two to ensure that the suction cup can be sealed and effectively adsorbed), as a reliable technical means for identifying the adsorption position of the column legs; at the same time, machine vision sensors can also be installed on each column leg, and through detection and identification and the controller controlling the column legs to retreat and other technical means, the column legs can be reliably adsorbed to the wall each time, thereby constructing a complete and reliable detection, identification method and robot control method.

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