Humanoid robot steel bar binding construction method

Abstract

The invention discloses a humanoid robot steel bar binding construction method. The method comprises the following steps that S1, a workshop site is preprocessed, and data is collected; s2, debugging and preparing the humanoid robot; s3, robot positioning and path planning; s4, steel bars are grabbed and placed; s5, steel bar binding operation is carried out; s6, quality detection and correction: the humanoid robot performs quality detection on the binding part by using detection equipment, automatically adjusts parameters according to a detection result, and corrects steel bar binding; and S7, cycle operation and task completion. Compared with the prior art, the problems that in the prior art, manual steel bar binding is large in labor intensity, low in efficiency, unstable in quality, poor in automation equipment adaptability and the like are solved.

Description

Technical Field

[0001] The invention relates to the technical field of building construction, and in particular to a steel bar binding construction method of a humanoid robot. Background Art

[0002] In the construction process of building projects, steel bar binding is a basic work with huge workload. Traditional steel bar binding operation mainly relies on manual operation, and workers need to perform high-intensity repetitive labor at the construction site for a long time, which is extremely labor-intensive and has low work efficiency. Due to the differences in manual operation, the quality of steel bar binding is difficult to maintain high consistency, and problems such as loose binding and inaccurate spacing are prone to occur, which in turn affects the stability and safety of the building structure.

[0003] In addition, in some special construction environments, such as high-altitude operations in high-rise buildings and deep underground foundation pits, manual steel bar tying poses a high safety risk and is prone to safety accidents such as falls and collapses.

[0004] In recent years, some automated steel bar tying equipment has emerged, but most of these devices are bulky and lack flexibility, making it difficult for them to adapt to the complex and changeable construction site environment and meet the needs of different building structures and construction scenarios. Summary of the invention

[0005] The purpose of the present invention is to provide a humanoid robot steel bar binding construction method to solve the problems of high labor intensity, low efficiency, unstable quality and poor adaptability of automated equipment in the prior art manual steel bar binding.

[0006] In order to achieve the above object, the present invention adopts the following technical solution: a humanoid robot steel bar binding construction method, comprising the following steps:

[0007] S1. Site preprocessing and data collection: Use 3D laser scanning to obtain 3D model data of the construction area terrain and steel bar design layout, combine the construction drawings to mark the steel bar information and input it into the central control system of the humanoid robot;

[0008] S2. Debugging and preparation of humanoid robots: Conduct a comprehensive inspection and debugging of the humanoid robots to ensure that their mechanical structures, such as the mechanical arms and leg joints, operate flexibly without any jamming or looseness, and that the sensors, controllers, communication modules and other parts of the electronic control system work properly and can accurately receive and execute instructions;

[0009] S3, Robot positioning and path planning: Determine the initial position of the robot through the positioning system, use the environment perception equipment to scan and model, plan the walking path and operation sequence in combination with the 3D model data, and use the path planning algorithm to avoid collisions between the robot and other construction equipment, materials or completed structural components;

[0010] S4. Grasping and placing steel bars: In the steel bar stacking area, the humanoid robot uses visual sensors to identify and locate steel bars. When the robotic arm grabs the steel bars, the force sensor monitors the grabbing force and moves the steel bars to the binding position.

[0011] S5. Rebar tying operation: The humanoid robot uses tying hooks to tie rebars according to preset procedures and processes. The robotic arm imitates manual movements, force sensors monitor the tying force, and visual sensors monitor the tying process. In the rebar tying operation, for rebars of different specifications, the tightening force of the tying wire is controlled within the corresponding appropriate range;

[0012] S6. Quality inspection and correction: The humanoid robot uses the inspection equipment to inspect the quality of the binding parts, automatically adjusts the parameters according to the inspection results, and corrects the steel bar binding;

[0013] S7, cycle operation and task completion: repeat the above steps S4-S6, after completing the steel bar tying task in one area, move to the next area to carry out steel bar tying until all tasks are completed.

[0014] In step S2, during the preparation of the humanoid robot, according to the specific requirements of steel bar binding, the robot is equipped with suitable binding tools, such as an intelligent binding hook, which can automatically adjust the binding force and method according to the specifications of the steel bars. At the same time, high-precision force sensors, visual sensors and other equipment are installed. The force sensor monitors the force changes during the steel bar grabbing and binding process in real time, and the visual sensor identifies the position, shape and posture of the steel bars, so that the robot can perform precise operations.

[0015] In step S5, the robot uses the equipped intelligent binding hook to bind the placed steel bars according to the preset binding procedures and process requirements. During the binding process, the robotic arm imitates the binding movements of skilled workers, flexibly bypasses the intersection of the steel bars, and accurately winds and tightens the binding wire. The force sensor monitors the tightening force of the binding wire in real time to ensure that the firmness of the binding meets the construction specifications. At the same time, the visual sensor monitors the binding process in real time. Once problems such as inaccurate binding position or irregular winding of the binding wire are found, the robot immediately stops operating and makes corrections.

[0016] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0017] 1. In the present invention, the working efficiency of steel bar binding is greatly improved. Compared with traditional manual binding, the humanoid robot can work continuously without being affected by factors such as fatigue, and can complete a large number of steel bar binding tasks in a shorter time.

[0018] 2. In the present invention, the quality stability of steel bar binding is significantly improved. The robot can perform binding in strict accordance with design requirements and construction specifications through precise positioning, operation and real-time quality inspection, effectively avoiding quality problems caused by differences in manual operations.

[0019] 3. The present invention greatly reduces construction safety risks, reduces the need for workers to perform steel bar binding operations in dangerous environments, and ensures the life safety of construction workers.

[0020] 4. In the present invention, the humanoid robot has good flexibility and environmental adaptability, can move and operate freely in the complex and changeable construction site environment, and adapt to the steel bar binding needs of different building structures and construction scenes.

[0021] 5. In the present invention, through the automated construction process, labor costs and management costs are reduced, and the intelligence level and economic benefits of building construction are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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.

[0023] Figure 1 The present invention is a flow chart of a method for steel bar binding construction using a humanoid robot. DETAILED DESCRIPTION

[0024] In order to make the purpose, 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 in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0027] In the description of the embodiments of the present invention, it should be noted that the terms "upper", "inner", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0028] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] Example 1

[0030] See also Figure 1 The present invention provides a steel bar tying construction method that can improve the efficiency and quality of steel bar tying, ensure construction safety, and has good environmental adaptability, so as to carry out the steel bar tying operation of the foundation raft. Through practical application in commercial complex construction projects, the humanoid robot steel bar tying construction method of the present invention has achieved remarkable results. Compared with traditional manual tying, the work efficiency has been improved by about 60%, the quality of steel bar tying has been significantly improved, and the safety of construction personnel has been effectively guaranteed, reducing construction costs.

[0031] The specific process is as follows:

[0032] S1. Construction site preprocessing and data collection:

[0033] 1) First, organize construction personnel to conduct a comprehensive cleanup of the foundation raft construction area, remove debris, stones and other obstacles on the surface, and level and compact the ground to remove obstacles that hinder the walking and operation of the humanoid robot, ensuring that the ground of the construction site is flat and solid to meet the walking requirements of the humanoid robot;

[0034] 2) Use a high-precision 3D laser scanner to scan the entire foundation raft construction area to obtain detailed terrain data and 3D model data for steel bar design and layout.

[0035] S2. Humanoid robot debugging and preparation:

[0036] 1) Carry out comprehensive inspection and debugging of the two humanoid robots, including motion testing of the mechanical structure and functional testing of the electronic control system, to ensure that the performance indicators of the robots meet the construction requirements;

[0037] 2) Each robot is equipped with intelligent tying hooks, high-precision force sensors, visual sensors and other equipment. The intelligent tying hook can automatically adjust the tying force and the number of windings according to the diameter of the steel bar. The force sensor has an accuracy of ±0.1N and can accurately monitor the force changes during the steel bar grabbing and tying process in real time. The visual sensor uses a combination of high-definition cameras and depth cameras to quickly and accurately identify the position, shape and posture of the steel bar.

[0038] S3. Robot positioning and path planning:

[0039] 1) The robot uses built-in GPS and Beidou positioning systems combined with visual positioning technology to achieve high-precision positioning and determine its initial position in the foundation raft construction area;

[0040] 2) Use the robot’s visual sensors and lidar to scan the surrounding environment and build a real-time environmental model of the construction area.

[0041] The central control system plans the optimal walking path and operation sequence for each robot based on the three-dimensional model data and environmental model of the construction area through the path planning algorithm, ensuring that the two robots will not interfere with each other during the construction process, avoid collisions with other construction equipment, materials or completed structural components, and can efficiently complete their respective binding tasks.

[0042] S4. Rebar grabbing and placement:

[0043] 1) When the robot reaches the steel bar stacking area, the visual sensor quickly identifies the required specifications of steel bars, such as steel bars with a diameter of 25 mm. The robotic arm accurately grasps the steel bars, and the force sensor monitors the grasping force in real time to ensure that the steel bars are grasped stably.

[0044] 2) The robot moves the steel bars to the corresponding binding positions of the foundation raft according to the planned path. Through the visual sensor and posture adjustment system, it accurately adjusts the position and angle of the steel bars to make them completely consistent with the design requirements, and then places the steel bars accurately in the designated position.

[0045] During the placement process, the force sensor again monitors the contact force between the steel bar and the placement surface to ensure that the steel bar is placed smoothly.

[0046] S5.Rebar tying operation:

[0047] 1) The robot uses an intelligent tying hook to tie the placed steel bars. The robot arm imitates the tying movements of skilled workers, flexibly bypasses the intersection of the steel bars, and accurately winds and tightens the tying wire. The force sensor monitors the tightening force of the tying wire in real time. According to the specifications and design requirements of the steel bars, the tightening force of the tying wire is controlled within an appropriate range. For steel bars with a diameter of 25 mm, the tightening force of the tying wire is controlled within 8-10 N·m;

[0048] 2) The visual sensor monitors the binding process in real time. Once the robot finds problems such as irregular winding of the binding wire or insufficient tightening force, it will immediately stop the operation and make corrections to ensure that the quality of each binding point meets the requirements.

[0049] S6. Quality inspection and correction:

[0050] 1) After the steel bar binding is completed, the robot uses a high-definition camera to check the appearance quality of the binding wire to see if there is any looseness or breakage; an ultrasonic flaw detector is used to detect the connection parts of the steel bars to determine whether there are defects such as cold welding and desoldering; an electromagnetic induction detector is used to detect whether the position and spacing of the steel bars meet the design requirements, and the error of the steel bar spacing is controlled within ±5mm;

[0051] 2) If quality problems are found during inspection, the robot will automatically adjust operating parameters, re-bind or take other corrective measures based on the type and severity of the problem.

[0052] For example, if the binding wire is found to be loose, the robot will retighten it; if the position deviation of the steel bar is found to be beyond the allowable range, the robot will carefully adjust the position of the steel bar and re-tie it.

[0053] S7. Cycle operation and task completion:

[0054] 1) The two robots complete the binding of all the steel bars in the foundation raft in sequence according to the above steps 4 to 6. During the construction process, the central control system monitors the working status and progress of the two robots in real time, and adjusts the task allocation and operation sequence in time to ensure efficient construction;

[0055] 2) When the reinforcement tying tasks of the foundation raft slab are all completed, the robot moves to the next construction area, such as the wall column reinforcement tying area on the underground floor, according to the instructions of the central control system, and continues to perform reinforcement tying construction according to the above process until the reinforcement tying tasks of the entire commercial complex construction project are successfully completed.

[0056] Working principle: It greatly improves the efficiency of steel bar binding. Compared with traditional manual binding, humanoid robots can work continuously and are not affected by factors such as fatigue. They can complete a large number of steel bar binding tasks in a shorter time. The quality stability of steel bar binding is significantly improved. Through precise positioning, operation and real-time quality inspection, the robot can strictly follow the design requirements and construction specifications for binding, effectively avoiding quality problems caused by differences in manual operation. It greatly reduces the construction safety risks and the need for workers to perform steel bar binding operations in dangerous environments, such as high altitudes and deep foundation pits, ensuring the life safety of construction workers. Humanoid robots have good flexibility and environmental adaptability. They can move and operate freely in complex and changeable construction site environments, and adapt to the steel bar binding needs of different building structures and construction scenarios. Through the automated construction process, labor costs and management costs are reduced, and the intelligence level and economic benefits of construction are improved.

[0057] Example 2

[0058] This embodiment further provides the following improved technical solutions based on the above embodiments: In step S1, the steel bar information includes the position coordinates, specifications, spacing, quantity, and binding requirements of the steel bars.

[0059] In order to ensure the quality of steel bar binding, detailed steel bar information needs to be input into the central control system that controls the humanoid robot. Specifically, the location, specification, quantity, and binding requirements of each steel bar need to be accurately marked, and these data need to be accurately input into the central control system that controls the humanoid robot. Among them, the specification information includes that the main specifications of the foundation raft steel bar are HRB400 grade steel bars with diameters of 25mm and 20mm, the length is determined according to the design requirements, and the spacing is 150mm and 200mm.

[0060] Example 3

[0061] This embodiment further provides the following improved technical solution based on the above embodiment: in step S4, the force sensor monitors the force changes during the process of grabbing and binding the steel bars in real time.

[0062] The force sensor has an accuracy of ±0.1N. When the robot reaches the designated steel bar stacking area, it uses the visual sensor to identify and locate the steel bars. According to the steel bar specifications and location information sent by the central control system, the robot arm accurately grabs the required steel bars. During the grabbing process, the force sensor monitors the grabbing force in real time to ensure that the steel bars are stably grabbed and not damaged due to excessive force.

[0063] 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 humanoid robot steel bar tying construction method, characterized in that: The following steps are involved: S1. Site preprocessing and data collection: Use 3D laser scanning to obtain 3D model data of the construction area terrain and steel bar design layout, combine the construction drawings to mark the steel bar information and input it into the central control system of the humanoid robot; S2, humanoid robot debugging and preparation; S3, Robot positioning and path planning: Determine the initial position of the robot through the positioning system, use the environment perception equipment to scan and model, and plan the walking path and operation sequence in combination with the 3D model data; S4. Grasping and placing steel bars: In the steel bar stacking area, the humanoid robot uses visual sensors to identify and locate steel bars. When the robotic arm grabs the steel bars, the force sensor monitors the grabbing force and moves the steel bars to the binding position. S5, steel bar tying operation: the humanoid robot uses the tying hook to tie the steel bars according to the preset procedures and processes, the robotic arm imitates the manual movements, the force sensor monitors the tying force, and the visual sensor monitors the tying process; S6. Quality inspection and correction: The humanoid robot uses the inspection equipment to inspect the quality of the binding parts, automatically adjusts the parameters according to the inspection results, and corrects the steel bar binding; S7, cycle operation and task completion: repeat the above steps S4-S6, after completing the steel bar tying task in one area, move to the next area to carry out steel bar tying until all tasks are completed.

2. A humanoid robot steel bar tying construction method according to claim 1, characterized in that: In step S1, the steel bar information includes the location coordinates, specifications, spacing, quantity, and binding requirements of the steel bars.

3. A humanoid robot steel bar tying construction method according to claim 1, characterized in that: In step S3, the positioning system of the humanoid robot determines the initial position through visual positioning combined with GPS positioning or Beidou positioning.

4. A humanoid robot steel bar tying construction method according to claim 1, characterized in that: In step S3, the environment perception device includes a visual sensor and a laser radar.

5. The method for tying steel bars using a humanoid robot according to claim 1, characterized in that: In step S4, the force sensor monitors the force changes during the process of grabbing and binding the steel bars in real time.

6. The method for tying steel bars using a humanoid robot according to claim 1, characterized in that: In step S6, the detection equipment includes a high-definition camera, an ultrasonic flaw detector and an electromagnetic induction detector. The high-definition camera is used to check the appearance quality of the binding wire, the ultrasonic flaw detector is used to detect the connection quality inside the steel bar, and the electromagnetic induction detector is used to detect whether the position and spacing of the steel bars after binding meet the design requirements.

7. The method for tying steel bars using a humanoid robot according to claim 1, characterized in that: In the step S1, before using a 3D laser scanner to obtain 3D model data, the foundation raft construction area is cleaned.

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