Building construction robot, control method and electronic equipment

Abstract

The invention relates to the technical field of building construction equipment, and provides a building construction robot, a control method and electronic equipment. The building construction robot comprises a main body which is provided with a containing cavity, and a plurality of steel rings are arranged in the containing cavity in a stacked mode; the positioning plate is arranged on the upper surface of the main body, a plurality of positioning holes are formed in the positioning plate, and the positioning holes are located above the containing cavity and communicate with the containing cavity, so that the steel bars can penetrate through the containing cavity and then are inserted into the positioning holes, and the steel rings are arranged on the outer sides of the steel bars in a sleeving mode; the steel ring releaser is connected to the main body and is used for releasing the steel ring; and the automatic iron binding device is arranged on the main body and is used for fixedly connecting the steel ring and the reinforcing steel bar. According to the building construction robot, the steel rings and the steel bars are fixedly connected together automatically, automatic iron binding is achieved, and efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of construction equipment, and in particular to a construction robot, a control method and an electronic device. Background Art

[0002] Iron tying is a process of tying steel bars in civil engineering. It refers to using iron wire to fix the steel bars into a skeleton inside the concrete column to enhance the column's load-bearing capacity and seismic resistance.

[0003] In general house construction, the iron-binding process of a column generally includes at least four steel bars, and the steel ring 2 is placed on the outside of the four steel bars so that the four steel bars remain stable and are surrounded to form a square or rectangle.

[0004] In the related art, the steel ring 2 is mainly installed manually and fixed to the steel bar, and the efficiency needs to be improved. Summary of the Invention

[0005] The present application aims to solve at least one of the technical problems existing in the related art. To this end, the present application proposes a construction robot, a control method and an electronic device.

[0006] A construction robot according to an embodiment of the first aspect of the present application includes:

[0007] The main body is formed with a receiving cavity, and a plurality of steel rings are stacked in the receiving cavity;

[0008] a positioning plate provided on the upper surface of the main body, wherein the positioning plate is formed with a plurality of positioning holes, wherein the positioning holes are located above the accommodating cavity and communicate with the accommodating cavity, so that the steel bar can pass through the accommodating cavity and then be inserted into the positioning holes, so that the steel ring is arranged on the outside of the steel bar;

[0009] A steel ring releaser is connected to the main body and is used to release the steel ring;

[0010] An automatic iron tie is provided on the main body and is used for fixing and connecting the steel ring and the steel bar.

[0011] According to the construction robot of the present application, a plurality of positioning holes are formed on the positioning plate, and steel bars are inserted into the positioning holes, so that the positioning plate can play a positioning role for the plurality of steel bars, so that the distance between adjacent steel bars remains stable. The main body is moved so that the main body moves to the bottom of the steel bar, and then the steel ring releaser releases a steel ring, so that the steel ring falls out of the main body. At this time, the steel ring is set on the outside of the plurality of steel bars, and then the automatic iron tie is used to fix the steel ring and the steel bar together. Then, the main body is moved upward for a certain distance, and the steel ring releaser releases another steel ring, and the automatic iron tie again fixes the steel ring and the steel bar together, and so on, until the main body moves to the top of the steel bar, thereby automatically fixing the steel ring and the steel bar together, realizing automatic iron tying and improving efficiency.

[0012] According to one embodiment of the present application, the construction robot also includes a limiting member, the first end of the limiting member is connected to the inner top wall of the accommodating cavity, the second end of the limiting member forms a limiting plate, and the limiting member can rotate relative to the main body to switch between a first position and a second position, wherein, in the first position, the limiting plate protrudes from the accommodating cavity, and the limiting plate is located on the falling path of the steel ring, and in the second position, the limiting plate is not on the falling path of the steel ring.

[0013] According to one embodiment of the present application, the construction robot also includes a magnetizer, which is arranged adjacent to the steel bars. The magnetizer can be switched between a magnetized state and a demagnetized state, wherein in the magnetized state, the magnetizer makes the steel bars magnetic, and in the demagnetized state, the steel bars are non-magnetic.

[0014] According to one embodiment of the present application, the construction robot further includes a lifting drive component, the main body is connected to the lifting drive component, and the lifting drive component is used to drive the main body to move up and down.

[0015] According to one embodiment of the present application, the main body is formed with an annular guide rail, and the automatic iron tie is slidably connected to the annular guide rail, thereby facilitating the adjustment of the position of the automatic iron tie and adjusting the distance between two adjacent iron tie to meet different iron tie requirements.

[0016] According to the second aspect of the present application, a construction robot control method based on the above-mentioned construction robot includes:

[0017] Determine the spacing between steel rings based on the total length of the steel bars and the set number of steel rings;

[0018] Based on the separation distance, the movement of the subject is controlled.

[0019] According to the third embodiment of the present application, a construction robot control device includes:

[0020] A determination module is used to determine the spacing distance of the steel rings according to the total length of the steel bars and the set number of steel rings;

[0021] A control module is configured to control the movement of the subject based on the interval distance.

[0022] According to the electronic device of the fourth embodiment of the present application, it includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the above-mentioned construction robot control method is implemented.

[0023] According to the non-transitory computer-readable storage medium of the fifth aspect embodiment of the present application, the non-transitory computer-readable storage medium includes a computer program, and when the computer program is executed by the processor, it implements the above-mentioned construction robot control method.

[0024] According to the computer program product of the sixth aspect of the present application, the computer program product includes a computer program, and when the computer program is executed by the processor, it implements the above-mentioned construction robot control method.

[0025] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 1 is a flow chart of a construction robot control method according to the present invention;

[0028] Figure 2 It is a structural schematic diagram of the construction robot control device provided by the present invention;

[0029] Figure 3 It is a structural schematic diagram of the electronic device provided by the present invention;

[0030] Figure 4 This is a schematic structural diagram of the construction robot provided by the present invention;

[0031] Figure 5 It is a partial structural diagram of the construction robot provided by the present invention. DETAILED DESCRIPTION

[0032] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0033] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0034] In the description of the embodiments of this application, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of this application based on the specific circumstances.

[0035] In the embodiments of the present application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0036] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0037] The following combination Figures 1 to 5 Describe the construction robot, control method and electronic equipment of the present application.

[0038] According to the embodiment of the first aspect of the present application, Figure 4 and Figure 5 As shown, the construction robot includes:

[0039] The main body 1 is formed with a receiving cavity 11, and a plurality of steel rings 2 are stacked in the receiving cavity 11;

[0040] The positioning plate 3 is provided on the upper surface of the main body 1. The positioning plate 3 is formed with a plurality of positioning holes 31. The positioning holes 31 are located above the accommodating cavity 11 and communicate with the accommodating cavity 11, so that the steel bar can pass through the accommodating cavity 11 and then be inserted into the positioning holes 31, so that the steel ring 2 is sleeved on the outside of the steel bar;

[0041] The steel ring releaser 4 is connected to the main body 1 and is used to release the steel ring 2;

[0042] The automatic iron tie 5 is provided on the main body 1 and is used for fixing and connecting the steel ring 2 and the steel bar.

[0043] According to the construction robot of the embodiment of the present application, the positioning plate 3 is formed with a plurality of positioning holes 31, and the steel bars are inserted into the positioning holes 31, so that the positioning plate 3 can play a positioning role for the plurality of steel bars, so that the distance between adjacent steel bars remains stable. The main body 1 is moved so that the main body 1 moves to the bottom of the steel bar, and then the steel ring releaser 4 releases a steel ring 2, so that the steel ring 2 falls out of the main body 1. At this time, the steel ring 2 is sleeved on the outside of the plurality of steel bars, and then the automatic iron tie 5 is used to fix the steel ring 2 and the steel bar together. Then, the main body 1 is moved upward for a certain distance, and the steel ring releaser 4 releases another steel ring 2. The automatic iron tie 5 then fixes the steel ring 2 and the steel bar together again, and so on, until the main body 1 moves to the top of the steel bar, thereby automatically fixing the steel ring 2 and the steel bar together, realizing automatic iron tying and improving efficiency.

[0044] It is understandable that in the related art, the steel bars are mainly tied manually. However, due to the certain length of the steel bars, the steel bars will tilt. Therefore, when fixing and connecting the steel ring 2 and the steel bars, the workers need to straighten the steel bars, which is troublesome and inefficient. However, the present application uses the positioning plate 3 to position the steel bars, preventing the steel bars from tilting. Therefore, the steel ring 2 and the steel bars can be fixed directly without consuming energy to straighten the steel bars.

[0045] For example, taking four steel bars as an example, the positioning plate 3 is formed with four positioning holes 31, and the four positioning holes 31 correspond to the four steel bars one by one. After the steel bars pass through the accommodating cavity 11, they are inserted into the positioning holes 31, so that the positioning plate 3 can position the four steel bars and prevent them from tilting. Then, the steel ring releaser 4 releases a steel ring 2, which is placed on the outside of the four steel bars. The automatic iron tie 5 fixes the four steel bars to the steel ring 2 together, and then the main body 1 is moved to fix the steel ring 2 at different positions of the steel bars to achieve automatic iron tie.

[0046] It should be noted that the automatic iron-tying tool 5 adopts the iron-tying tool in the prior art, that is, the structural design of the automatic iron-tying tool 5 is not the improvement point of the present application. The improvement point of the present application lies in the application of the automatic iron-tying tool 5.

[0047] In some embodiments, as Figure 4 and Figure 5 As shown, the construction robot also includes a limiting member 6, a first end of the limiting member 6 is connected to the inner top wall of the accommodating cavity 11, and a second end of the limiting member 6 forms a limiting plate 61. The limiting member 6 can rotate relative to the main body 1 to switch between a first position and a second position, wherein, in the first position, the limiting plate 61 protrudes from the accommodating cavity 11, and the limiting plate 61 is located on the falling path of the steel ring 2, and in the second position, the limiting plate 61 is not on the falling path of the steel ring 2.

[0048] It is understood that when the steel ring releaser 4 releases the steel ring 2, the stopper 6 is in the first position, and the stopper plate 61 is in the falling path of the steel ring 2. That is, the stopper plate 61 can support the steel ring 2 and prevent it from continuing to fall, so that the automatic iron-fixing device 5 can securely connect the steel ring 2 and the steel bar. After the steel ring 2 and the steel bar are securely connected, the stopper 6 is placed in the second position to prevent the stopper plate 61 from hooking the steel ring 2 and preventing the main body 1 from moving upward.

[0049] It is understandable that by providing the limit member 6, a blocking effect can be exerted on the falling steel ring 2 to prevent the steel ring 2 from falling excessively. For example, after the first steel ring 2 and the steel bar are fixedly connected together, the main body 1 moves upward, and then the limit member 6 is in the first position, the steel ring releaser 4 releases the second steel ring 2, and the second steel ring 2 falls downward. Due to the obstruction of the limit plate 61, the second steel ring 2 will stay at the limit plate 61, so as to facilitate the fixed connection between the second steel ring 2 and the steel bar, and facilitate automatic control of the distance between the first steel ring 2 and the second steel ring 2, without the need for manual adjustment of the spacing between the two steel rings 2.

[0050] In some embodiments, the construction robot also includes a magnetizer, which is arranged adjacent to the steel bars. The magnetizer can switch between a magnetized state and a demagnetized state. In the magnetized state, the magnetizer makes the steel bars magnetic, and in the demagnetized state, the steel bars are non-magnetic.

[0051] It is understood that the magnetizer can switch the steel bar between being magnetic and non-magnetic. After the steel ring releaser 4 releases the steel ring 2, the magnetizer can make the steel bar magnetic, so that the steel bar can attract the steel ring 2, so that the steel ring 2 and the steel bar remain relatively still, so that the automatic iron tie 5 can fix the steel ring 2 and the steel bar together.

[0052] Exemplarily, before the steel ring releaser 4 releases the steel ring 2, the magnetizer is first in a demagnetized state, at which time the steel bar has no magnetism, and then the steel ring releaser 4 releases the steel ring 2. When the steel ring 2 falls to a preset position, or after the steel ring 2 falls for a preset time, the magnetizer is in a magnetized state, so that the steel bar can attract the steel ring 2. That is to say, this embodiment can control the falling distance of the steel ring 2, and thus can control the distance between two adjacent steel rings 2.

[0053] Exemplarily, the main body 1 moves to a preset position at the bottom of the steel bar, and the steel bar is passed through the positioning hole 31. At this time, the magnetizer is usually in a demagnetized state, and the steel bar is non-magnetic. At the moment when the steel ring releaser 4 is about to release the steel ring 2 (or the limiter 6 is removed) or a little before, the control unit instructs the magnetizer to switch to the magnetizing state. The strong magnetic field quickly magnetizes the steel bar. The steel ring releaser 4 releases the steel ring 2 (or the limiter 6 is removed), and the steel ring 2 falls under the action of gravity. When the falling steel ring 2 (usually ferromagnetic material) approaches or contacts the magnetized steel bar, the magnetic field generated by the steel bar will strongly attract the steel ring 2.

[0054] Magnetic attraction allows the steel ring 2 to quickly and securely attach to the rebar, ensuring it is accurately positioned at the preset location and effectively preventing it from bouncing, shifting, or tilting due to minor collisions or air currents when in contact with the rebar. This provides a stable and precise foundation for the subsequent fixed connection operation of the automatic iron tie 5. Because the steel ring 2 is firmly attached to the rebar, when the main body 1 moves upward to prepare for the placement of the next steel ring 2, the already placed steel ring 2 will not slide down the rebar due to gravity or vibration. This precisely maintains the preset distance between adjacent steel rings 2, ensuring the uniform spacing of the rebar cage structure and is a key guarantee for automated continuous operation.

[0055] In some examples, the magnetizer includes a coil and a ferromagnetic core, with the coil wound around the ferromagnetic core. In a magnetized state, the coil is energized, and in a demagnetized state, the coil is deenergized. In other words, the state switching of the magnetizer can be controlled by controlling the energized state of the coil.

[0056] In some embodiments, as Figure 4 and Figure 5 As shown, the construction robot further includes a lifting drive member 7, the main body 1 is connected to the lifting drive member 7, and the lifting drive member 7 is used to drive the main body 1 to move up and down.

[0057] It can be understood that the lifting drive 7 first drives the main body 1 to the bottom starting position of the steel bar. At this time, the positioning plate 3 is close to the ground or foundation, and the steel bar passes through the accommodating cavity 11 and the positioning hole 31. The steel ring releaser 4 releases a steel ring 2 (after the limiter 6 is removed), and the steel ring 2 falls and is sleeved on the steel bar. The automatic iron tie 5 is started to fix the steel ring 2 and the steel bar in the current position. After the automatic iron tie is completed, the control system instructs the lifting drive 7 to work, and the lifting drive 7 drives the main body 1 to move upward accurately a preset distance, which is equal to the designed spacing between adjacent steel rings 2, and then repeats the operation of releasing the steel ring 2 and fixing the steel ring 2 to the steel bar. By analogy, when the main body 1 is lifted to the top position of the steel bar by the lifting drive 7 and the steel ring 2 there is fixed, the automatic iron tie work of the entire steel cage (or the section of steel bar) is completed.

[0058] In some examples, the lifting drive 7 includes a precision screw driven by a servo motor or a stepper motor, and a nut fixed to the main body 1. The motor rotates to drive the screw, and the nut moves linearly along the screw, thereby driving the main body 1 to rise and fall accurately.

[0059] In some examples, the lifting drive 7 includes a motor-driven driving wheel, a driven wheel, and a synchronous belt or chain wrapped around them. The main body 1 is fixed to one side of the synchronous belt / chain. The motor drives the driving wheel to rotate, which in turn drives the synchronous belt / chain, thereby pulling the main body 1 up and down.

[0060] In some examples, the lifting drive 7 includes a gear driven by a motor and a rack vertically fixed to the main body 1 or a supporting structure. The gear meshes with the rack, and the motor drives the gear to rotate, driving the main body 1 to rise and fall along the rack.

[0061] In some examples, the lifting drive member 7 is a hydraulic cylinder or a gas cylinder, the cylinder body is fixed, and the end of the piston rod is connected to the main body 1. By controlling the inflow and outflow of hydraulic oil or compressed air, the piston rod is driven to extend and retract, thereby pushing the main body 1 up and down.

[0062] In some examples, the lifting drive 7 is a linear motor, whose primary (stator) is fixed and the secondary (mover) is directly connected to the main body 1. By controlling the current, the mover (main body 1) moves linearly in the magnetic field generated by the stator.

[0063] In some embodiments, the main body 1 is formed with an annular guide rail, and the automatic iron clamp 5 is slidably connected to the annular guide rail, thereby facilitating adjustment of the position of the automatic iron clamp 5 and adjusting the distance between two adjacent iron clamps to meet different iron clamping requirements.

[0064] In some embodiments, as Figure 4 and Figure 5 As shown, the steel ring releaser 4 includes a release driving member 41, a first telescopic blocking piece 42 and a second telescopic blocking piece 43, and the first telescopic blocking piece 42 and the second telescopic blocking piece 43 are both connected to the release driving member 41;

[0065] The release drive member 41 is used to drive the first telescopic block 42 to extend and retract relative to the bottom of the steel ring 2 farthest from the top wall of the accommodating chamber 11, and the release drive member 41 is used to drive the second telescopic block 43 to extend and retract relative to between the two steel rings 2 farthest from the top wall of the accommodating chamber 11.

[0066] It can be understood that in the initial state, the first telescopic baffle 42 is in an extended state, located below the bottommost steel ring 2, supporting the entire stack of steel rings 2, and the second telescopic baffle 43 is in a retracted state, not located between any steel rings 2, and does not interfere with the stack of steel rings 2.

[0067] Upon receiving the release signal, the release driver 41 first drives the second telescopic barrier 43 from its retracted state to its extended state. The second telescopic barrier 43 inserts into the narrow gap between the bottommost steel ring 2 and the second steel ring 2 above it. Once inserted, the second telescopic barrier 43 separates the bottommost steel ring 2 from the entire stack of steel rings 2 above it. At this point, the bottommost steel ring 2 remains supported by the first telescopic barrier 42, while the stack of steel rings 2 above it is supported by the second telescopic barrier 43.

[0068] After the second telescopic barrier 43 is fully extended and stably supports the upper stack of steel rings 2, the driver 41 is released to drive the first telescopic barrier 42 from the extended state to the retracted state. Without the support of the first telescopic barrier 42, and with the bottommost steel ring 2 now separated from the upper stack of steel rings 2 (separated by the second telescopic barrier 43), only the bottommost steel ring 2 falls freely under the action of gravity, passes through the bottom opening of the accommodating chamber 11, and is placed on the steel bar below.

[0069] Then, the second telescopic baffle 43 is inserted to separate the bottommost steel ring 2 to be released and the pile of steel rings 2 above it, and then the first telescopic baffle 42 is retracted to release the isolated single ring, ensuring that only one steel ring 2 is released each time. The problem of multiple rings falling or getting stuck at the same time due to friction, adhesion or design defects is completely avoided. By controlling the movement sequence of the release drive 41 (first extend the second baffle to separate, then retract the first baffle to release; when resetting, first extend the first baffle, then retract the second baffle), the release process is highly controllable and precise. When releasing the bottommost steel ring 2, the second telescopic baffle 43 always supports the pile of steel rings 2 above to prevent it from falling. During the resetting process, the first telescopic baffle 42 is first extended into place, and then the second baffle is retracted, ensuring the smooth and safe transfer support of the pile of steel rings 2 without the risk of falling.

[0070] According to an embodiment of the second aspect of the present application, Figure 1 As shown, the construction robot control method is used for the construction robot; the construction robot control method includes:

[0071] Step 101: Determine the spacing between the steel rings 2 according to the total length of the steel bars and the set number of steel rings 2;

[0072] It is understood that the total length of the steel bar refers to the actual length from the bottom starting point to the top end point of the steel bar segment that needs to be tied with the steel ring 2. The set number of steel rings 2 refers to the total number of steel rings 2 that need to be installed on this section of steel bar.

[0073] Step 102: Control the movement of the subject 1 based on the interval distance.

[0074] It can be understood that the main body 1 is located at the initial position (height H0, usually corresponding to the starting point of the bottom of the steel bar, that is, 0m), and the steel ring releaser 4 is controlled to act to release the first steel ring 2 to the preset position at the bottom of the steel bar. The automatic iron tie 5 is controlled to act to firmly fix the first steel ring 2 on the steel bar. The control unit instructs the lifting drive 7 to work and drive the main body 1 to move upward a precise distance ΔH. The main body 1 moves to reach a new target height H1=H0+ΔH. At the new height H1, the steel ring releaser 4 is controlled to act to release the second steel ring 2, and the automatic iron tie 5 is controlled to act to fix the second steel ring 2, and so on. When the last steel ring 2 is fixed, the control unit confirms that the bundling task of the steel rings 2 of the entire steel bar segment is completed.

[0075] The construction robot control method according to the present embodiment automatically completes complex spacing calculations by simply inputting the total length of the rebar and the set number of steel rings 2. It then strictly directs the step-by-step movement of the lifting drive 7, triggering the release and securing of the steel rings 2 at each precise target height. This method perfectly solves the problem of uniformly distributing the steel rings 2 during rebar cage production, achieving an efficient, high-quality, and fully automated rebar bundling process, and is a key technology for improving the level of automation in construction.

[0076] In some embodiments, the construction robot further includes a visual perception unit and an edge computing unit. The visual perception unit includes four industrial-grade global shutter cameras installed at the four corners of the main frame. The edge computing unit integrates an NVIDIA Jetson AGX Orin module (32GB memory, AI computing power 275TOPS) and is connected to the camera and motion controller via a GPIO interface.

[0077] The construction robot control method also includes:

[0078] Rebar cluster scanning;

[0079] It can be understood that when the robot moves to the working area, the four-eye camera synchronously collects images of the steel bar end faces and generates a 3D point cloud of the steel bar end faces through a stereo vision algorithm.

[0080] Intelligent identification and positioning;

[0081] It can be understood that the point cloud data is input into the trained ResNet-18 model (trained with 100,000 steel bar samples) to output: the center coordinates of each steel bar (image coordinate system), the actual diameter of the steel bar (recognition error ≤ 0.2mm) and the spacing value between adjacent steel bars (detection error ≤ 1mm).

[0082] Posture deviation compensation;

[0083] It is understood that the recognition result is compared with a preset rebar layout template (such as a 4×4 rectangular array). If the spacing error is greater than 5mm, the posture adjustment mode is triggered, and the required translation (ΔX, ΔY) and rotation angle θ are calculated. The XY plane translation and rotation are achieved through the construction robot's motion chassis (Mecanum wheels). If the error is ≤5mm, the robot enters the fine-tuning mode, controlling the hydraulic micro-motion mechanism of the positioning plate to compensate for ΔX / ΔY (travel ±50mm).

[0084] Dynamic positioning verification;

[0085] It is understandable that the scan is repeated after adjustment. If the steel bar position meets the preset requirements, the mechanical locking pin is released to fix the positioning plate and the steel ring release procedure is started; if the spacing error is greater than 5mm: an alarm is triggered and the point cloud data is uploaded to the cloud for analysis.

[0086] Furthermore, this embodiment completely replaces the traditional physical positioning plate through the triple technological breakthroughs of multi-view 3D reconstruction + deep learning recognition + real-time posture closed-loop control, realizes intelligent perception and dynamic adaptation of steel bar positions, and provides core support for the robot's fully autonomous operation in complex construction site environments.

[0087] According to the embodiment of the third aspect of the present application, the construction robot control device and the construction robot control method correspond to each other. Figure 2 As shown, the construction robot control device includes:

[0088] A determination module 201 is used to determine the spacing between the steel rings 2 according to the total length of the steel bars and the set number of steel rings 2;

[0089] The control module 202 is used to control the movement of the main body 1 based on the interval distance.

[0090] According to an embodiment of the fourth aspect of the present application, Figure 3 As shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330, and a communication bus 340, wherein the processor 310, the communication interface 320, and the memory 330 communicate with each other via the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute the construction robot control method, which includes:

[0091] Determine the spacing between the steel rings 2 based on the total length of the steel bars and the set number of steel rings 2;

[0092] Based on the separation distance, the movement of the main body 1 is controlled.

[0093] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0094] On the other hand, the present application also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can perform the construction robot control method provided by the above methods, which includes:

[0095] Determine the spacing between the steel rings 2 based on the total length of the steel bars and the set number of steel rings 2;

[0096] Based on the separation distance, the movement of the main body 1 is controlled.

[0097] According to an embodiment of the fifth aspect of the present application, the present application further includes a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for controlling a construction robot provided above is implemented, the method comprising:

[0098] Determine the spacing between the steel rings 2 based on the total length of the steel bars and the set number of steel rings 2;

[0099] Based on the separation distance, the movement of the main body 1 is controlled.

[0100] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units. That is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0101] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus the necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or certain parts of the embodiment.

[0102] Finally, it should be noted that the above embodiments are intended only to illustrate the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the embodiments, those skilled in the art will appreciate that various combinations, modifications, or equivalent substitutions of the technical solutions of the present application do not depart from the spirit and scope of the technical solutions of the present application and are intended to be encompassed by the claims of the present application.

Claims

1. A construction robot, characterized in that: include: The main body is formed with a receiving cavity, and a plurality of steel rings are stacked in the receiving cavity; a positioning plate provided on the upper surface of the main body, wherein the positioning plate is formed with a plurality of positioning holes, wherein the positioning holes are located above the accommodating cavity and communicate with the accommodating cavity, so that the steel bar can pass through the accommodating cavity and then be inserted into the positioning holes, so that the steel ring is arranged on the outside of the steel bar; A steel ring releaser is connected to the main body and is used to release the steel ring; An automatic iron tie is provided on the main body and is used for fixing and connecting the steel ring and the steel bar.

2. The construction robot according to claim 1, characterized in that: The construction robot also includes a limiting member, a first end of the limiting member is connected to the inner top wall of the accommodating cavity, and the second end of the limiting member forms a limiting plate. The limiting member can rotate relative to the main body to switch between a first position and a second position, wherein, in the first position, the limiting plate protrudes from the accommodating cavity, and the limiting plate is located on the falling path of the steel ring, and in the second position, the limiting plate is not on the falling path of the steel ring.

3. The construction robot according to claim 1, characterized in that: The construction robot also includes a magnetizer, which is arranged adjacent to the steel bars. The magnetizer can be switched between a magnetized state and a demagnetized state. In the magnetized state, the magnetizer makes the steel bars magnetic, and in the demagnetized state, the steel bars are non-magnetic.

4. The construction robot according to any one of claims 1 to 3, characterized in that: The construction robot further includes a lifting drive component, the main body is connected to the lifting drive component, and the lifting drive component is used to drive the main body to move up and down.

5. The construction robot according to any one of claims 1 to 3, characterized in that: The main body is formed with an annular guide rail, and the automatic iron tie is slidably connected to the annular guide rail, thereby facilitating adjustment of the position of the automatic iron tie and adjusting the distance between two adjacent iron tie to meet different iron tie requirements.

6. A construction robot control method based on the construction robot according to any one of claims 1 to 5, characterized in that: include: Determine the spacing between steel rings based on the total length of the steel bars and the set number of steel rings; Based on the separation distance, the movement of the subject is controlled.

7. A construction robot control device, characterized in that: include: A determination module is used to determine the spacing distance of the steel rings according to the total length of the steel bars and the set number of steel rings; A control module is configured to control the movement of the subject based on the interval distance.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the construction robot control method according to claim 6 is implemented.

9. A non-transitory computer-readable storage medium comprising a computer program, characterized in that: When the computer program is executed by a processor, the construction robot control method according to claim 6 is implemented.

Images