Omnidirectional wheel pay-off robot mechanism

Abstract

The invention belongs to the technical field of paying-off robots, and particularly relates to an omnidirectional wheel paying-off robot mechanism which comprises a driving assembly arranged at one end of a wheel, a paying-off robot is controlled to move through a remote control unit, and the paying-off track of the paying-off robot is limited based on the plane movement track of the wheel. The Flywheels can be selectively switched to be in a directional / omnidirectional moving mode based on terrain complexity, and the moving mode is switched by regulating and controlling the locking / unlocking state of one Flywheel; the manufacturing cost of a single robot is suppressed by adopting an electrical component combination with lower manufacturing cost, and the robot is more suitable for small and medium-sized projects; a directional moving mode or an omni-directional moving mode is switched through the three-axis wheel, and the requirement for driving in a complex terrain area can be flexibly met; and through switching of the dual-mode operating system, printing of simple patterns and printing of complex patterns are dealt with respectively, the paying-off efficiency is improved, and the operating threshold is greatly reduced.

Description

Technical Field

[0001] This invention belongs to the field of wire-laying robot technology, specifically relating to an omnidirectional wheel wire-laying robot mechanism. Background Technology

[0002] A line-laying robot is an automated device that integrates artificial intelligence, machine vision, and high-precision positioning technology. It aims to replace traditional manual labor in line-laying operations across various engineering scenarios. Its core function is to automatically generate and mark the baselines or markers required for construction through preset parameters or real-time environmental perception. Widely used in building construction, road reconstruction and expansion, cable laying, and other fields, it is a typical example of the deep integration of industrialization and intelligentization in construction. Most robots employ wheeled or tracked chassis and include spraying / laying modules, integrating BeiDou / GPS systems and combining laser scanners to achieve centimeter-level positioning accuracy.

[0003] Although the line-laying robot has set a precedent for the integration of industrialization and intelligence in construction, the existing line-laying robots still have the following drawbacks: 1. They are expensive. The components they are equipped with, such as laser trackers, multi-line lidar, and inertial navigation modules, cost up to hundreds of thousands of yuan when combined. However, the budget for small and medium-sized road marking projects is usually low. The depreciation and maintenance costs of robot equipment account for more than 60%, which is far beyond the cash flow threshold of small and medium-sized contractors. 2. Most line-laying robots use a fixed four-wheel or tracked structure, with a single movement mode, which means that steering relies on differential principle, the minimum turning radius is large, and it is impossible to rotate in place to adjust the posture. In complex terrain areas, it is often necessary to frequently reverse to adjust the posture and orientation. 3. The remote control unit (i.e., the remote controller) of the wire-laying robot has multi-level menu nesting (average call depth ≥ 3 levels), which is cumbersome for drawing simple graphics. For drawing complex graphics, it is often necessary to manually input the base point coordinates and verify each segment, which has a high operation threshold. Summary of the Invention

[0004] The purpose of this invention is to provide an omnidirectional wheeled wire-laying robot mechanism. It uses a combination of low-cost electrical components to reduce the manufacturing cost of a single robot, making it more suitable for small and medium-sized projects. By switching between three-axis wheeled motion modes, the robot can not only move in a directional manner but also move in all directions. The easy adjustment of its posture allows it to flexibly adapt to the needs of driving in complex terrain areas. By switching between dual-mode operating systems, it can handle the printing of simple and complex graphics respectively, improving wire-laying efficiency and significantly reducing the operating threshold.

[0005] The specific technical solution adopted by this invention is as follows: An omnidirectional wheel-type wire-laying robot mechanism includes a drive component disposed at one end of a caster wheel. The movement of the wire-laying robot is controlled by a remote control unit. The wire-laying trajectory of the wire-laying robot is defined based on the planar movement trajectory of the caster wheel. The caster wheel can be selectively switched between directional and omnidirectional movement modes based on the terrain complexity. The movement mode can be switched by adjusting the locking / unlocking state of one of the caster wheels. The switching of the locking / unlocking state is triggered by the joystick offset of the remote control unit or a preset path inflection point.

[0006] The wire-laying robot is assembled by integrating a wire-laying unit, a moving unit, a navigation unit, and an electronic control unit. The moving unit includes: a support plate, and three of the aforementioned wheels fixed to the bottom of the support plate and evenly distributed circumferentially along the axis of the support plate; The drive assembly has a built-in independent motor to drive the caster wheel, and is equipped with a speed sensor to monitor the speed of the independent motor. It also has an electromagnetic clutch to limit the rotation angle of the caster wheel by switching the current on and off.

[0007] The wire-laying unit includes: a linear motor disposed at the center of the bearing plate, a battery disposed on one side of the linear motor, a UV nozzle mounted on the output end of the linear motor facing the ground, the vertical distance between the UV nozzle and the ground being adjusted by moving the linear motor, and the battery supplying power to the various electrical components of the wire-laying robot.

[0008] The navigation unit includes a prism target disposed on the top of the support plate. The prism target works in conjunction with a total station to monitor position deviation in real time. An antenna is provided on one side of the prism target, and the prism target transmits signals to the total station over long distances through the antenna.

[0009] The electronic control unit includes: a microcontroller chip disposed on the top of the carrier plate, the two ends of the microcontroller chip being electrically connected to a communication chip interface and a display screen respectively, and a remote control receiver being disposed on one side of the microcontroller chip; The remote control receiver is used to receive the command signals and preset parameters of the remote control unit. The microcontroller chip adjusts the speed of the independent motor in the drive assembly in real time based on the position deviation information received from the total station, and simultaneously collects the data from the speed sensor.

[0010] Based on the instruction signals and preset parameters received from the remote control receiver, the start-stop and speed of the independent motor in the drive assembly are controlled, and the on / off state of the electromagnetic clutch is adjusted. The display screen is electrically connected to the microcontroller chip via a serial port protocol to display the operating data of each component in real time, and can be extended to connect to external devices through the communication chip interface.

[0011] The control mode of the remote control unit is selected and switched according to the geometric complexity of the laying trajectory. The remote control unit performs laying of simple geometric paths in manual mode and laying of complex geometric paths in automatic mode.

[0012] The manual mode is controlled by a handle on the remote control unit. The handle has preset action groups, including linear, rectangular, and circular actions. The handle also has physical joystick buttons, which can be activated by triggering the corresponding preset actions.

[0013] The automatic mode parses the geometric path drawing imported into the application within the remote control unit, establishes a mapped field coordinate system based on the geometric path drawing, and generates the layout path.

[0014] The technical effects achieved by this invention are as follows: 1. By using a combination of low-cost electrical components, the manufacturing cost of a single robot can be reduced, as well as the depreciation and maintenance costs of the equipment can be reduced, making it more suitable for small and medium-sized projects; 2. By switching between three-axis wheel motion modes, the robot can not only move in a specific direction, but also move in all directions. It is easy to adjust its posture, reduce the turning radius, and can flexibly adapt to the needs of driving in complex terrain areas. 3. By switching between dual-mode operating systems, it can handle the printing of simple and complex graphics respectively, improve line laying efficiency, significantly reduce the operating threshold, and enhance the user experience. Attached Figure Description

[0015] Figure 1 This is an overall structural diagram of the wire-laying robot provided in the embodiments of the present invention; Figure 2 This is a side view of the wire-laying robot provided in an embodiment of the present invention; Figure 3 This is a bottom view of the wire-laying robot provided in an embodiment of the present invention; Figure 4 This is a menu diagram of the components of the wire-laying robot provided in the embodiments of the present invention; Figure 5 This is a sub-menu diagram of the components of the wire-laying robot provided in the embodiments of the present invention; Figure 6 This is a state switching logic diagram of the feeder provided in an embodiment of the present invention.

[0016] The attached diagram lists the components represented by each number as follows: 1. Carrier plate; 2. Wheel; 201. Drive assembly; 3. Linear motor; 4. UV nozzle; 5. Battery; 6. Prism target; 7. Antenna; 8. Microcontroller chip; 9. Communication chip interface; 10. Display screen; 11. Remote control receiver. Detailed Implementation

[0017] To make the objectives and advantages of the present invention clearer, the present invention will be specifically described below in conjunction with embodiments. It should be understood that the embodiments of the present invention described in detail below are examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0018] like Figures 1-2 , Figures 4-5 As shown, an omnidirectional wheel wire-laying robot mechanism includes a drive component 201 disposed at one end of a wheel 2. The wire-laying robot is assembled by integrating a wire-laying unit, a moving unit, a navigation unit, and an electronic control unit. The navigation unit includes a prism target 6 mounted on the top of the support plate 1. The prism target 6 works in conjunction with a total station to monitor position deviation in real time. An antenna 7 is provided on one side of the prism target 6, which transmits signals to the total station over long distances via the antenna 7. The electrical control unit includes a microcontroller chip 8 mounted on the top of the support plate 1. The two ends of the microcontroller chip 8 are electrically connected to a communication chip interface 9 and a display screen 10, respectively. A remote control receiver 11 is also provided on one side of the microcontroller chip 8. The remote control receiver 11 is used to receive command signals and preset parameters from the remote control unit. The display screen 10 is electrically connected to the microcontroller chip 8 via a serial port protocol to display the operating data of each component in real time. External devices can be connected via the communication chip interface 9.

[0019] Based on the above structure, construction workers use a total station to measure two known control points (such as corners A and B). A line-laying robot carrying a prism target 6 moves to point A, and the total station records its coordinates. The prism target 6 reflects the laser beam emitted by the total station, and the coordinate data is transmitted in conjunction with antenna 7. The time difference is recorded, and the distance between the line-laying robot and the total station is calculated. The total station can also simultaneously measure horizontal and vertical angles. Combining the distance data, the three-dimensional coordinates of the prism target 6 (i.e., the robot's position) are calculated. Furthermore, if the line-laying robot moves, the total station can track the positional changes of the prism target 6 in real time, forming a continuous trajectory monitoring system. These coordinate data are wirelessly transmitted to the microcontroller chip 8 via antenna 7 to ensure real-time updates of the positioning data. The microcontroller chip 8 processes input signals (total station, remote receiver 11, speed sensor, etc.) and generates corresponding control signals to control the corresponding electrical components, coordinate the timing of each module, and display these data on the display screen 10. The remote receiver 11 can receive command signals from the remote control unit (i.e., the handheld remote control) to achieve priority control through manual intervention. The communication chip interface 9 supports multiple communication protocols such as Wi-Fi / Bluetooth / 4G to support the installation and expansion of various communication devices.

[0020] See attached document Figures 2-6 The movement of the wire-laying robot is controlled by the remote control unit. The wire-laying trajectory of the wire-laying robot is limited by the planar movement trajectory of the wheel 2. The wheel 2 can be selectively switched to directional / omnidirectional movement mode based on the terrain complexity. The movement mode can be switched by adjusting the locking / unlocking state of one of the wheels 2. The switching of the locking / unlocking state is triggered by the joystick offset of the remote control unit or the preset path inflection point. The moving unit includes: a support plate 1, several casters 2 fixed at the bottom of the support plate 1, and three casters evenly distributed circumferentially along the axis of the support plate 1; a drive assembly 201 with an independent motor built in it to drive the casters 2 to move, and equipped with a speed sensor to monitor the speed of the independent motor; and an electromagnetic clutch is also provided to limit the rotation angle of the casters 2 by switching the current on and off. Based on the position deviation information received from the total station, the microcontroller chip 8 adjusts the speed of the independent motor in the drive assembly 201 in real time and simultaneously collects data from the speed sensor. According to the command signal received from the remote control receiver 11 and the preset parameters, it controls the start, stop and speed of the independent motor in the drive assembly 201 and adjusts the on / off state of the electromagnetic clutch.

[0021] According to the above structure, when the construction personnel generate a displacement signal through the operating handle of the remote control unit (such as the joystick offset exceeding the threshold) or press the preset function button, the locking / unlocking state of the electromagnetic clutch is triggered. In automatic mode, when the path planning module detects that the current path curvature radius is less than the set threshold, the electromagnetic clutch is automatically unlocked, causing the wheel 2 to switch to the locking state. Among the two triggering methods, manual operation has the highest priority. The ball bearings on the surface of the wheel hub of the 2-wheel are arranged at an angle, which can withstand friction from any direction. The independent motor in the drive assembly 201 drives each wheel 2 through the power supply of the battery 5, and precisely controls the speed difference of each wheel to achieve steering. The speed sensor feeds back the motor speed to the microcontroller chip 8 in real time. The speed sensor can be a GMR sensor, Hall sensor, etc. The support plate 1 serves as the mounting base for all components, keeping the three wheels 2 symmetrically distributed at 120°. The wheel hub angle of one wheel 2 is locked or unlocked by changing the on and off state of the electromagnetic clutch in the drive assembly 201, while the other two wheels 2 remain driven. The wheel 2 can be switched between directional and omnidirectional modes. In directional mode, it can only roll along the longitudinal axis of the body for straight-line travel. In omnidirectional mode, it can slide laterally. With the front wheel differential, it can turn on the spot or move diagonally, which improves the adaptive mobility of the wire laying robot and can absorb some bumps. Its ability to turn on the spot or move diagonally can bypass obstacles, and it does not need to repeatedly advance or retreat in some narrow areas.

[0022] See attached document Figures 4-6 The control mode of the remote control unit is selected and switched according to the geometric complexity of the laying trajectory. The remote control unit executes laying of simple geometric paths in manual mode and laying of complex geometric paths in automatic mode. The manual mode is controlled by an operating handle on the remote control unit. The operating handle has preset action groups, including straight line action, rectangular action and circular arc action. The operating handle is also equipped with physical joystick buttons. By triggering the physical joystick button combination, the corresponding preset action can be executed. The automatic mode imports the geometric path drawing into the application in the remote control unit, parses it, establishes a mapped field coordinate system based on the geometric path drawing, and generates the layout path.

[0023] Based on the above structure, construction workers control the line-laying robot via a remote control unit (i.e., a handheld remote control). There are two control modes: a manual mode suitable for simple line laying and an automatic mode suitable for complex line laying. Using the operating handle (equipped with a joystick, buttons, etc.) on the remote control unit, in manual mode, the construction worker selects the physical button corresponding to a preset action (such as a straight line or rectangle) and, in conjunction with the joystick, controls the robot's speed and direction to manually lay the line. In automatic mode, the CAD drawing of the layout pattern is first imported into the application software of the remote control unit. The software automatically parses and extracts the line features, and converts the lines on the drawing into a sequence of robot path points according to the on-site coordinate system. The layout robot can then move and lay out the line according to the path.

[0024] See attached document Figures 2-5The wire-laying unit includes: a linear motor 3 located at the center of the bearing plate 1; a battery 5 located on one side of the linear motor 3; a UV nozzle 4 installed at the output end of the linear motor 3 facing the ground; the vertical distance between the UV nozzle 4 and the ground is adjusted by moving the linear motor 3; and the battery 5 supplies power to the various electrical components of the wire-laying robot.

[0025] According to the above structure, the linear motor 3 achieves precise vertical lifting and lowering through screw drive, adjusting the distance between the UV nozzle and the ground. The UV nozzle 4 atomizes and sprays liquid UV ink with high-pressure gas to form visible marking lines. The battery 5 can be a lithium-ion battery pack to power all electrical components (drive motor, control system, nozzle, etc.). During the initial line laying, the line laying robot returns to the starting point, and the UV nozzle 4 is lowered to the preset height. The total station monitors the robot's position deviation in real time, the microcontroller chip 8 calculates the deviation, dynamically adjusts the PWM signal of the drive motor, and the speed sensor feeds back the actual speed to correct the control parameters. When the path point is reached, the linear motor 3 triggers the UV nozzle 4 to spray the mark. After traversing all path points, the nozzle is automatically raised and returns to the starting point. In this patent embodiment, the electrical connection between the electrical components of each unit is achieved using conventional cables, and the assembly process is carried out using methods commonly used in the art, such as bolt fastening, adhesive fixing or welding. Specific process details are not limited in this patent. Furthermore, the UV printhead 4 is a commercially available integrated micro UV inkjet printer, which integrates an ink storage unit, a self-powered module, and a remote control function. Given that such products are mature industrial products and are widely used on various platforms, this patent will not elaborate on their internal working principle nor make any special limitations. It should be noted that the top protection design of the carrier plate 1 can be adapted to install a standardized protective shell to achieve effective protection of each electrical component. The assembly method of this protective structure follows the industry standard. In order to make it easier to clearly show the spatial layout of each electrical component in the drawings, the protective shell is omitted in the drawings of this patent. This situation should not be interpreted as a design defect of this patent.

[0026] The working principle of this invention is as follows: Construction workers use a total station to perform initial positioning work, selecting two known control points (such as corners A and B) as references. Subsequently, a line-laying robot carrying a prism target 6 moves to point A, and the total station accurately records the coordinates of that point. During this process, the prism target 6 reflects the laser beam emitted by the total station, and, in conjunction with antenna 7, completes the wireless transmission of coordinate data, simultaneously recording the time difference to calculate the distance between the robot and the total station. The total station can also simultaneously measure horizontal and vertical angles, and, combined with the distance data, calculate the three-dimensional coordinates of the prism target 6 (i.e., the robot's position). As the robot moves, the total station can track the positional changes of the prism target 6 in real time, forming continuous trajectory monitoring to ensure positioning accuracy. Furthermore, this real-time coordinate data is wirelessly transmitted to the microcontroller chip 8 via antenna 7, enabling instant updates of positioning information. As the core control unit, the microcontroller chip 8 is responsible for processing multi-source input signals from the total station, remote receiver 11, speed sensor, and other sources, generating corresponding control commands to coordinate the operation of various electrical components, and displaying key data intuitively on the display screen 10. Furthermore, the remote control receiver 11 can receive command signals from the handheld remote control, giving the highest priority to manual intervention and ensuring operational flexibility. In addition, the communication chip interface 9 supports multiple communication protocols such as Wi-Fi / Bluetooth / 4G, providing a convenient interface for system expansion. Furthermore, in terms of movement, the ball bearings on the surface of the wheel hub of the Fulai wheel 2 are arranged at an angle, which can withstand frictional forces in any direction. The independent motor in the drive assembly 201 is powered by the battery 5 and achieves steering by precisely controlling the speed difference of each wheel. The speed sensor (such as a GMR sensor or a Hall sensor) feeds back the motor speed to the microcontroller chip 8 in real time, forming a closed-loop control. Furthermore, the bearing plate 1 serves as the mounting base, ensuring that the three wheels 2 are symmetrically distributed at 120°. By controlling the on and off of the electromagnetic clutch, the hub angle of a single wheel 2 can be locked or unlocked, while the other two wheels remain driven. This allows for flexible switching between directional mode (rolling only along the longitudinal axis of the vehicle body, suitable for straight-line driving) and omnidirectional mode (able to slide laterally, and can be used with the front wheel differential to achieve on-the-spot turning or diagonal movement). Furthermore, construction workers control the robot via a remote control unit (i.e., a handheld remote controller), offering both manual and automatic control modes. Manual mode is suitable for simple graphic layout; the operator can use the joystick and preset buttons on the remote controller to select actions such as straight lines and rectangles, and control the robot's speed and direction. Automatic mode is for complex graphic designs; the CAD drawing must first be imported into the remote controller's application software. The software automatically parses the line features and converts them into a sequence of robot path points, after which the robot automatically lays out the lines according to the planned path. Furthermore, in the actuator, the linear motor 3 achieves precise vertical lifting and lowering through screw drive, accurately adjusting the distance between the UV nozzle 4 and the ground. The UV nozzle 4 uses high-pressure gas to atomize and spray liquid ink, forming a high-contrast visible marking line. At the start of the operation, the robot returns to the starting point, and the nozzle is lowered to the preset height. The total station monitors the position deviation in real time, the microcontroller chip 8 calculates the deviation and dynamically adjusts the PWM signal of the drive motor, and the speed sensor feeds back the actual speed to correct the control parameters. When the path point is reached, the linear motor 3 triggers the nozzle to spray the mark. After completing all paths, the nozzle automatically rises and returns to the starting point. Furthermore, in this patent embodiment, the electrical connection between each unit electrical component is achieved using conventional cables, and the assembly process is implemented using methods commonly used in the art, such as bolt fastening, adhesive fixing, or welding. Specific process details are not limited in this patent. Furthermore, the UV printhead 4 is a commercially available integrated micro UV inkjet printer, which integrates an ink storage unit, a self-powered module, and a remote control function. Given that such products are mature industrial products and are widely used on various platforms, this patent will not elaborate on their internal working principle nor make any special limitations. It should be noted that the top protection design of the carrier plate 1 can be adapted to install a standardized protective shell to achieve effective protection of each electrical component. The assembly method of this protective structure follows the industry standard. In order to make it easier to clearly show the spatial layout of each electrical component in the drawings, the protective shell is omitted in the drawings of this patent. This situation should not be interpreted as a design defect of this patent.

[0027] The above description is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained in this invention are implemented according to conventional methods in the art unless otherwise specified or limited.

Claims

1. An omnidirectional wheel wire feeding robot mechanism, comprising a drive assembly (201) disposed at one end of a feed wheel (2), characterized in that: The remote control unit controls the movement of the wire-laying robot, and limits the wire-laying trajectory of the wire-laying robot based on the planar movement trajectory of the wheel (2). The wheel (2) can be selectively switched to directional / omnidirectional movement mode based on the terrain complexity. The locking / unlocking state of one of the wheels (2) is adjusted to switch the movement mode, and the switching of the locking / unlocking state is triggered by the joystick offset of the remote control unit or the preset path inflection point.

2. The omnidirectional wheel wire-laying robot mechanism according to claim 1, characterized in that: The wire-laying robot is assembled by integrating a wire-laying unit, a moving unit, a navigation unit, and an electronic control unit. The moving unit includes: a bearing plate (1), and three of the aforementioned wheels (2) fixed to the bottom of the bearing plate (1) and evenly distributed circumferentially along the axis of the bearing plate (1); The drive assembly (201) has a built-in independent motor to drive the wheel (2) to move, and is equipped with a speed sensor to monitor the speed of the independent motor. It is also equipped with an electromagnetic clutch to limit the rotation angle of the wheel (2) by switching the current on and off.

3. The omnidirectional wheel wire-laying robot mechanism according to claim 2, characterized in that, The wire-laying unit includes: a linear motor (3) located at the center of the bearing plate (1), a battery (5) on one side of the linear motor (3), a UV nozzle (4) installed at the output end of the linear motor (3) facing the ground, the vertical distance between the UV nozzle (4) and the ground is adjusted by the movement of the linear motor (3), and the battery (5) supplies power to each electrical component of the wire-laying robot.

4. The omnidirectional wheel wire-laying robot mechanism according to claim 3, characterized in that, The navigation unit includes a prism target (6) disposed on the top of the carrier plate (1). The prism target (6) is used in conjunction with the total station to monitor the position deviation in real time. An antenna (7) is provided on one side of the prism target (6). The prism target (6) achieves long-distance signal transmission with the total station through the antenna (7).

5. The omnidirectional wheel wire-laying robot mechanism according to claim 4, characterized in that, The electronic control unit includes: a microcontroller chip (8) disposed on the top of the carrier plate (1), the two ends of the microcontroller chip (8) being electrically connected to a communication chip interface (9) and a display screen (10), and a remote control receiver (11) is also provided on one side of the microcontroller chip (8). The remote control receiver (11) is used to receive the command signal and preset parameters of the remote control unit. The micro control chip (8) adjusts the speed of the independent motor in the drive component (201) in real time based on the position deviation information received from the total station, and synchronously collects the data of the speed sensor.

6. The omnidirectional wheel wire-laying robot mechanism according to claim 5, characterized in that: According to the instruction signal received from the remote receiver (11) and the preset parameters, the start-stop and speed of the independent motor in the drive assembly (201) are controlled, and the on / off state of the electromagnetic clutch is adjusted. The display screen (10) is electrically connected to the microcontroller chip (8) via a serial port protocol to display the operating data of each component in real time, and to extend the connection to external devices through the communication chip interface (9).

7. The omnidirectional wheel wire-laying robot mechanism according to claim 1, characterized in that: The control mode of the remote control unit is selected and switched according to the geometric complexity of the laying trajectory. The remote control unit performs laying of simple geometric paths in manual mode and laying of complex geometric paths in automatic mode.

8. The omnidirectional wheel wire-laying robot mechanism according to claim 7, characterized in that: The manual mode is controlled by a handle on the remote control unit. The handle has preset action groups, including linear, rectangular, and circular actions. The handle also has physical joystick buttons, which can be activated by triggering the corresponding preset actions.

9. The omnidirectional wheel wire-laying robot mechanism according to claim 7, characterized in that: The automatic mode parses the geometric path drawing imported into the application within the remote control unit, establishes a mapped field coordinate system based on the geometric path drawing, and generates the layout path.

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