Quadruped robot system for building construction

Abstract

The invention relates to a quadruped robot system for building construction, and the quadruped robot system plays an important role in the field of intelligent manufacturing through miniaturization, generalization and multi-scene available design. The quadruped robot system is composed of a quadruped robot reinforcing body subsystem composed of a quadruped robot body, a self-climbing device, a mechanical arm, a mechanical hand and a multi-source detection sensor, and a shaft net positioning subsystem composed of multiple sets of RFID tags.

Description

Technical Field

[0001] The present invention relates to the field of quadruped robots, in particular to a quadruped robot system for construction. Background Art

[0002] With the rapid development of robot technology, more and more robots will be widely used in various scenarios. There are already many actual cases of construction robot applications in the field of construction. Especially in "dangerous, complex, dirty and heavy" scenarios, robots replacing manual labor has become an inevitable trend. Taking a certain central enterprise as an example, large-scale construction robots include building machines and external self-climbing tower cranes, and medium-sized construction robots include fully automatic floor drilling robots and intelligent spraying robots. Taking the R&D product layout of a certain technology company as an example, it is mainly concentrated on medium-sized construction robots, such as floor grinding robots, intelligent plastering robots, intelligent steel bar production lines, etc. The common characteristics of the above construction robots are: medium and large size, single functionality, and lack of a usable small, universal, and multi-scenario construction robot.

[0003] The present invention relates to a quadruped robot system for construction, which plays an important role in the field of intelligent manufacturing through its miniaturized, universal, and multi-scenario design. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a quadruped robot system for construction, which is composed of a quadruped robot body and a self-climbing device (a utility model patent applied for in another case, "A self-climbing device of a quadruped robot"), a manipulator, a manipulator arm, a quadruped robot reinforced body subsystem consisting of a multi-source detection sensor, and an axis network positioning subsystem composed of multiple groups of RFID tags (an invention patent applied for in another case, "A robot positioning method in a construction environment").

[0005] The present invention provides a quadruped robot system for construction, which consists of a quadruped robot body, a self-climbing device, a mechanical arm, a mechanical hand, a quadruped robot reinforcement subsystem consisting of a multi-source detection sensor, and an axis network positioning subsystem consisting of multiple groups of RFID tags.

[0006] The self-climbing device of this quadruped robot used in construction can meet the needs of the quadruped robot to independently complete climbing operations using its own device without relying on external climbing facilities such as stepladders and scaffolding.

[0007] The axis network positioning subsystem composed of multiple groups of RFID tags can enable the quadruped robot to communicate with the RFID tags on the floor where it is located during construction operations, and the quadruped robot can realize the positioning of the robot in the area of ​​the floor.

[0008] Multi-source detection sensors include inertial measurement units, visual sensors, and lidar.

[0009] LiDAR has high-precision, 360-degree environmental perception capabilities.

[0010] The visual sensor has a high-definition camera and an image recognition module.

[0011] The robot body is composed of an arm rod and joint drive components made of carbon fiber composite materials, and a torque sensor is installed on the robot arm.

[0012] The gripper on the robot is equipped with force and tactile sensors, which can grasp objects adaptively.

[0013] The quadruped robot task planning module includes: CAD drawing parsing, path search algorithm, task priority setting interface development, and priority queue scheduling algorithm.

[0014] The quadruped robot device control module includes: ROS custom interface development, motion control algorithm writing, device status data acquisition interface, and fault diagnosis model based on Bayesian network.

[0015] Quadruped robot data collection and analysis module: data collection interface development, data based on statistical analysis and regression analysis, and construction quality report generation template. DETAILED DESCRIPTION

[0016] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the present invention.

[0017] The present invention provides a quadruped robot system for construction, which is composed of a quadruped robot body, a self-climbing device, a mechanical arm, a mechanical hand, a quadruped robot reinforcement subsystem composed of a multi-source detection sensor, and an axis network positioning subsystem composed of multiple groups of RFID tags. This quadruped robot system has the characteristics of universality and multi-scenario availability. It is used to complete autonomous positioning during the rebar planting construction process, and autonomously realize drilling, hole cleaning, gluing, steel bar grabbing and insertion during the rebar planting construction, which is one of its many usage scenarios in construction.

[0018] The quadruped robot analyzes the CAD drawings to determine the locations where reinforcement bars need to be planted. After communicating with the RFID axis network positioning system of the floor where it is located, the quadruped robot completes the positioning of the floor area and plans the order of the construction path through the path search algorithm.

[0019] After the quadruped robot arrives at the first work point, it measures and determines the location of the first rebar planting construction through lidar and visual sensors. The manipulator grabs the impact drill to drill vertically on the surface of the column. After reaching the preset depth, the manipulator sequentially grabs the brush to clean the hole, grabs the glue gun to apply glue, and grabs the steel bar to complete the insertion.

[0020] During this period, the self-climbing device can satisfy the needs of the quadruped robot to independently complete the rebar planting construction at high places using its own device without relying on external climbing facilities such as ladders and scaffolding.

[0021] After the rebar planting construction is completed at the first operation point, the quadruped robot plans the construction path and priority queue according to the path search algorithm, and automatically moves to the next construction point, and so on.

[0022] The embodiments described above are only used to illustrate the technical ideas and features of the present invention, and their purpose is to enable technicians in this field to understand the contents of the present invention and implement them accordingly. The patent scope of the present invention cannot be limited only by this embodiment, that is, any equivalent changes or modifications made according to the spirit disclosed by the present invention still fall within the patent scope of the present invention.

Claims

1. A quadruped robot system for construction, characterized in that This quadruped robot system consists of a quadruped robot body, a self-climbing device, a robotic arm, a robotic hand, a quadruped robot reinforcement subsystem consisting of a multi-source detection sensor, and an axis network positioning subsystem consisting of multiple groups of RFID tags. The axis network positioning subsystem consisting of multiple groups of RFID tags can enable the quadruped robot to communicate with the RFID tags on the floor where it is located during construction operations, thereby realizing the positioning of the quadruped robot in the area of ​​that floor.

2. The quadruped robot reinforcement subsystem according to claim 1, characterized in that The self-climbing device can meet the needs of the quadruped robot to complete climbing operations independently using its own device without relying on external climbing facilities such as ladders and scaffolding.

3. The multi-source detection sensor according to claim 1, characterized in that Multi-source detection sensors include inertial measurement units, visual sensors, and lidar.

4. The laser radar according to claim 3, characterized in that LiDAR has high-precision, 360-degree environmental perception capabilities.

5. The visual sensor according to claim 3, characterized in that The visual sensor has a high-definition camera and an image recognition module.

6. The robotic arm according to claim 1, characterized in that The robot body is composed of an arm rod and joint drive components made of carbon fiber composite materials, and a torque sensor is installed on the robot arm.

7. The robot according to claim 1, characterized in that The gripper on the robot is equipped with force and tactile sensors, which can grasp objects adaptively.

8. The quadruped robot body according to claim 1, characterized in that The task planning module of the quadruped robot body includes: CAD drawing analysis, path search algorithm, task priority setting interface development, and priority queue scheduling algorithm.

9. The quadruped robot body according to claim 1, characterized in that The device control module of the quadruped robot body includes: ROS custom interface development, motion control algorithm writing, device status data acquisition interface, and fault diagnosis model based on Bayesian network.

10. The quadruped robot body according to claim 1, characterized in that Data collection and analysis module of the quadruped robot body: data collection interface development, data based on statistical analysis and regression analysis, and construction quality report generation template.