Intelligent robot for automatic line drawing and positioning of secondary structure

Abstract

The invention belongs to the technical field of robots, and particularly relates to a secondary structure automatic line drawing and positioning intelligent robot which comprises a robot body, a first mechanical arm and a second mechanical arm are symmetrically arranged at the front end of the robot body, one end of the first mechanical arm and one end of the second mechanical arm are connected with the robot body, and the other end of the first mechanical arm and the other end of the second mechanical arm are connected with a line drawing and positioning plate. A third mechanical arm is arranged between the first mechanical arm and the second mechanical arm, one end of the third mechanical arm is connected with the robot body, the other end of the third mechanical arm is connected with a line drawing pen, a hydraulic ink box is arranged on the robot body, and the hydraulic ink box is connected with the line drawing pen through a flexible connecting pipe of the third mechanical arm. The invention discloses an intelligent robot for automatic line drawing and positioning of a secondary structure, the intelligent robot is used for replacing manual line drawing and positioning, the project cost can be effectively saved, the project construction period is shortened, and the project quality and the project management level can be greatly improved through informatization and intelligentization of the intelligent robot.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to an intelligent robot for automatic line drawing and positioning of secondary structures. Background Technology

[0002] With the continuous maturation of smart building, information technology, and intelligent robot technology, and the rising cost of labor, the entry of robots into the construction field is inevitable. Traditional secondary structure marking and positioning is done manually, which is difficult to control in terms of positioning accuracy, prone to misalignment, slow, and inaccurate, hindering project cost control. Summary of the Invention

[0003] This invention discloses an intelligent robot for automatic line drawing and positioning of secondary structures. Using an intelligent robot to replace manual line drawing and positioning can effectively save project costs and shorten project time. Its informatization and intelligence will greatly improve engineering quality and engineering management level.

[0004] To achieve the above objectives, the technical solution of the present invention is as follows: A secondary structure automatic line drawing and positioning intelligent robot includes a robot body. A first robotic arm and a second robotic arm are symmetrically arranged at the front end of the robot body. One end of the first robotic arm and the second robotic arm are connected to the robot body, and the other end is connected to a line drawing and positioning plate. A third robotic arm is arranged between the first robotic arm and the second robotic arm. One end of the third robotic arm is connected to the robot body, and the other end is connected to a line drawing pen. The robot body is equipped with a hydraulic ink cartridge, which is connected to the line drawing pen through a flexible connecting tube of the third robotic arm.

[0005] Preferably, the robot body includes a cubic shell, with a forward-extending balance plate at the bottom front end of the shell, and a pair of walking wheels respectively provided on the balance plate and the bottom end of the shell, and the walking wheels are driven by a drive mechanism.

[0006] Preferably, the housing contains a controller and a battery that are electrically connected to each other, and the controller is configured to control the movements of the first to third robotic arms and the walking wheels.

[0007] Preferably, a camera is connected to the top of the housing via a bracket, a drive motor is connected to the base of the camera, the fixed end of the drive motor is fixedly connected to the top of the bracket, the rotating end is fixedly connected to the base of the camera, and the camera is electrically connected to the controller.

[0008] Preferably, the controller is also connected to the administrator's mobile APP via a wireless signal transceiver.

[0009] Preferably, the marking and positioning plate is a square plate. A pressure sensor is embedded in the middle of the outer surface of the square plate. A first laser ranging sensor is embedded on the outer surface of the square plate above and below the pressure sensor. A second laser ranging sensor is embedded on each of the four sides of the square plate. An angle sensor is fixedly installed on the inner surface of the square plate. The pressure sensor, the first and second laser ranging sensors, and the angle sensor are respectively connected to the controller signal via wires.

[0010] Preferably, the walking wheels are Mecanum wheels, and the third robotic arm is at the same distance from the first and second robotic arms.

[0011] A method for using an intelligent robot for automatic line drawing and positioning of secondary structures includes: A manager sends a drawing of the construction location to a controller via a mobile app. The controller compares the path information on the drawing with environmental visual information captured by a camera, identifies the path, and moves along the path to the drawing position. At this point, the robot body uses its first and second robotic arms to lift two line drawing positioning plates to the same height and maintain a vertical orientation towards the wall. A first laser rangefinder collects distance information; when distance information reaches a preset standard, it indicates that the robot is at the correct working distance from the wall. The robot body then places the two line drawing positioning plates against the wall in a vertical orientation. Four second laser rangefinders measure the distance between the line drawing positioning plates and reference objects on the left, right, top, and bottom sides of the wall, and measure the spacing between them. This allows the robot to determine whether the position of the line to be drawn matches the drawing. If they match, a third robotic arm is activated to draw the line on the wall. During this process, the controller determines the position of the drawing pen based on the position information of the two line drawing positioning plates.

[0012] Preferably, the position of the drawing pen is determined as follows: of the two drawing positioning plates, the left drawing positioning plate determines its own position based on the distance 1 from its top to the top reference object, the distance 2 from its bottom to the structural base plate, and the distance 3 from its outer end to the left reference object. Similarly, the right drawing positioning plate also determines its own position based on the same standard. When the two drawing positioning plates are in the set coordinate position, the third robotic arm is controlled to draw lines on the wall between the two drawing positioning plates. The controller determines the relative position of the drawing pen between the two drawing positioning plates based on the servo signal on the third robotic arm. After completing a part of the drawing, the drawing positioning plate moves to a new position and continues to draw lines in the same way until all the wall drawing operations are completed.

[0013] The beneficial effects of the intelligent robot for automatic line drawing and positioning of secondary structures in this invention are as follows: the use of intelligent robots to replace manual line drawing and positioning can effectively save project costs and shorten project time. Its informatization and intelligence will greatly improve the quality of engineering and the level of engineering management. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2 This is a schematic diagram of the rear view structure of the present invention; Figure 3 This is a side view of the structure of the present invention; Figure 4 This is a front view structural diagram of the present invention; Figure 5 This is a schematic diagram of the surface of the marking and positioning plate facing the wall. Figure 6 This is a schematic diagram showing the determination of the origin and XY axis between two line-drawing positioning plates.

[0015] Marked in the image: 1. Robot body; 2. Walking wheels; 3. Support frame; 4. Camera; 5. First chamber; 6. Second chamber; 7. First robotic arm; 8. Second robotic arm; 9. Third robotic arm; 10. Drawing pen; 11. Drawing positioning plate one; 12. Drawing positioning plate two; 13. Hydraulic ink cartridge; 14. Flexible connecting tube; 15. Pressure sensor; 16. First laser rangefinder sensor. Detailed Implementation

[0016] The following description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0017] The following embodiments can be understood as illustrating a part of the structure or method of the present invention individually, or as combining the embodiments to explain the broader structure or method of the present invention.

[0018] Example 1: An intelligent robot for automatic line drawing and positioning of secondary structures, such as Figure 1-5As shown, the robot includes a robot body 1. A first robotic arm 7 and a second robotic arm 8 are symmetrically arranged at the front end of the robot body. One end of the first robotic arm 7 and the second robotic arm 8 are connected to the robot body 1, and the other end is connected to a drawing positioning plate (11 / 12). A third robotic arm 9 is arranged between the first robotic arm 7 and the second robotic arm 8. One end of the third robotic arm 9 is connected to the robot body 1, and the other end is connected to a drawing pen 10. The robot body 1 is provided with a hydraulic ink cartridge 13, which is connected to the drawing pen 10 through a flexible connecting tube 14 of the third robotic arm 9. The hydraulic ink cartridge is a mechanism that uses hydraulic pressure to deliver ink to the drawing pen along a flexible connecting tube. The ink cartridge can be cylindrical, containing a piston. A piston rod is connected to the top of the piston, and an electric cylinder is connected to the top of the piston rod. An outlet tube is located on one side of the ink cartridge, connected to the flexible connecting tube. The extension of the electric cylinder drives the piston downwards, thus outputting the ink. One end of the flexible connecting tube is connected to the pen tip inlet, allowing ink to flow out or spray from the pen tip. The controller controls the ink ejection speed by controlling the extension and retraction speed of the electric cylinder. The flexible connecting tube can be fixed along the outer shell of the third robotic arm using clips, or it can run along a cavity within the third robotic arm. The robot body can be an existing robot structure capable of performing the relevant functions.

[0019] Example 2: like Figure 1-5 As shown, the robot body 1 includes a cubic shell. A balancing plate extending forward is located at the bottom front of the shell to ensure the robot's stability. A pair of wheels 2 are respectively located on the balancing plate and the bottom of the shell. The wheels 2 are driven by a drive mechanism. The drive mechanism can be a DC motor. Controlling the DC motors 4 to achieve various walking movements of the robot is a common technique and will not be repeated here.

[0020] like Figure 1-4 As shown, the housing contains a controller and a battery that are electrically connected to each other. The controller is configured to control the movements of the first to third robotic arms and the walking wheels. The controller includes at least an OpenCV chip and an STM32 microcontroller.

[0021] like Figure 1-4 As shown, a camera 4 is connected to the top of the housing via a bracket 3. A drive motor (not shown in the figure) is connected to the base of the camera 4. The fixed end of the drive motor is fixedly connected to the top of the bracket 3, and the rotating end is fixedly connected to the base of the camera 4. The camera 4 is electrically connected to a controller. The controller realizes the 360° rotation of the camera through the drive motor to collect information about the surrounding environment and the wall.

[0022] Example 3: like Figure 1-4As shown, the controller is also connected to the administrator's mobile APP via a wireless signal transceiver.

[0023] Example 4: like Figure 1-4 As shown, the line-drawing positioning plate (11 / 12) is a square plate. A pressure sensor 15 is embedded in the middle of the outer surface of the square plate to allow the controller to determine whether it is in contact with the wall. A first laser rangefinder 16 is embedded on the outer surface of the square plate above and below the pressure sensor 15. By detecting the distance to the wall, the controller determines whether the distance between the robot body and the wall is correct. A second laser rangefinder (not shown in the figure) is provided on each of the four sides of the square plate to facilitate the determination of the coordinate position of the square plate itself. An tilt sensor (not shown in the figure) is fixed on the inner surface of the square plate to assist the controller in determining the posture of the square plate itself. The pressure sensor, the first and second laser rangefinders, and the tilt sensor are respectively connected to the controller via wires.

[0024] Example 5: like Figure 1-4 As shown, the walking wheel 2 is a Mecanum wheel, and the third robotic arm 9 is equidistant from the first robotic arm 7 and the second robotic arm 8. Mecanum wheels facilitate the robot's forward, backward, left, and right movements. The equidistant distance between the third robotic arm 9 and the first robotic arm 7 and the second robotic arm 8 is as follows: Figure 2 As shown, in the initial state, the first to third robotic arms are all in a non-bent state, and the distance between the third robotic arm and the other two is the same. Based on this, the robot body calculates the relative position of its drawing pen with respect to the two drawing positioning plates according to the posture change of the third robotic arm. For example, as... Figure 6 As shown, with the coordinates of the two marking and positioning plates known, the line connecting the midpoints of the opposite ends of the two marking and positioning plates is the X-axis, and the perpendicular line passing through the midpoint of the line is the Y-axis. The two intersect at the origin. The X-axis coordinate of the point where the drawing pen is located after shifting 2cm to the left relative to the Y-axis is -2cm; if at the same time, the point is shifted 3cm downward relative to the X-axis, then the Y-axis coordinate of the point is -3cm; the controller can first adjust the third robotic arm to the initial position, point the drawing pen directly at the origin, and then drive the third robotic arm to the coordinate position (-2, -3cm).

[0025] Example 6: Based on the above embodiments, this embodiment discloses a method for using an intelligent robot for automatic line drawing and positioning of secondary structures, such as... Figure 1-6As shown, the process includes: Managers send drawings of the construction location to the controller via a mobile app. The controller compares the path information on the drawings with environmental visual information captured by cameras, identifies the path, and moves along the path to the marked position. At this point, the robot body uses its first and second robotic arms to lift the two marked positioning plates to the same height, maintaining a vertical orientation towards the wall. A first laser rangefinder collects distance information; when distance information reaches a preset standard, it indicates the robot is at the correct working distance from the wall. The robot body then holds the two marked positioning plates in a vertical orientation. The system is positioned against the wall, and four second laser rangefinders measure the distance between the positioning plate and reference objects on the left, right, top, and bottom sides of the wall (these reference objects can be other structures on either side of the wall, such as another wall perpendicular to the wall; the top can be the structural top plate, and the bottom can be the structural bottom plate; of course, reference objects can also be manually set). The system measures the distance between these reference objects and then identifies whether the position of the line to be drawn matches the drawing. If they match, the third robotic arm is activated to draw the line on the wall. During this process, the controller determines the position of the drawing pen based on the position information of the two line-drawing positioning plates.

[0026] Specifically, the position of the drawing pen is determined as follows: Of the two drawing positioning plates, the left drawing positioning plate determines its position based on the distance 1 from its top to the top reference object, the distance 2 from its bottom to the structural base plate, and the distance 3 from its outer end to the left reference object. Similarly, the right drawing positioning plate determines its position based on the same criteria. When the two drawing positioning plates are in the set coordinate positions, the third robotic arm is controlled to draw lines on the wall between the two drawing positioning plates. The controller determines the relative position of the drawing pen between the two drawing positioning plates based on the servo signals on the third robotic arm. After completing a portion of the drawing, the drawing positioning plate moves to a new position and continues to draw lines in the same way until all wall drawing operations are completed.

Claims

1. An intelligent robot for automatic line drawing and positioning using a secondary structure, characterized by: The system includes a robot body, with a first robotic arm and a second robotic arm symmetrically arranged at the front end of the robot body. One end of the first robotic arm and the second robotic arm are connected to the robot body, and the other end is connected to a drawing positioning plate. A third robotic arm is arranged between the first robotic arm and the second robotic arm. One end of the third robotic arm is connected to the robot body, and the other end is connected to a drawing pen. The robot body is equipped with a hydraulic ink cartridge, which is connected to the drawing pen through a flexible connecting tube of the third robotic arm.

2. The intelligent robot for automatic line drawing and positioning of secondary structures as described in claim 1, characterized in that: The robot body includes a cubic shell, with a balancing plate extending forward at the bottom front end of the shell. The balancing plate and the bottom end of the shell are each provided with a pair of wheels, which are driven by a drive mechanism.

3. The intelligent robot for automatic line drawing and positioning of secondary structures as described in claim 2, characterized in that: The housing contains a controller and a battery that are electrically connected to each other. The controller is configured to control the movements of the first to third robotic arms and the walking wheels.

4. The intelligent robot for automatic line drawing and positioning of secondary structures as described in claim 3, characterized in that: A camera is connected to the top of the housing via a bracket. A drive motor is connected to the base of the camera. The fixed end of the drive motor is fixedly connected to the top of the bracket, and the rotating end is fixedly connected to the base of the camera. The camera is electrically connected to the controller.

5. The intelligent robot for automatic line drawing and positioning of secondary structures as described in claim 4, characterized in that: The controller is also connected to the administrator's mobile app via a wireless signal transceiver.

6. The intelligent robot for automatic line drawing and positioning of secondary structures as described in claim 5, characterized in that: The line-drawing positioning plate is a square plate. A pressure sensor is embedded in the middle of the outer surface of the square plate. A first laser ranging sensor is embedded on the outer surface of the square plate above and below the pressure sensor. A second laser ranging sensor is installed on each of the four sides of the square plate. An angle sensor is fixedly installed on the inner surface of the square plate. The pressure sensor, the first and second laser ranging sensors, and the angle sensor are connected to the controller signal via wires.

7. The intelligent robot for automatic line drawing and positioning of secondary structures as described in claim 6, characterized in that: The walking wheels are Mecanum wheels, and the third robotic arm is equidistant from the first and second robotic arms.

8. The method of using an intelligent robot for automatic line drawing and positioning of secondary structures as described in claim 7, characterized in that, include: The manager sends the construction location drawings to the controller via a mobile app. The controller compares the path information on the drawings with the environmental visual information captured by the camera, identifies the path, and moves along the path to the drawing position. At this time, the robot body uses the first and second robotic arms to lift the two drawing positioning plates to the same height and keep them vertically facing the wall. The first laser rangefinder collects distance information. When the distance information reaches the preset standard, it means that the robot is at the correct working distance from the wall. The robot body then places the two drawing positioning plates against the wall in a vertical position. The four second laser rangefinders measure the distance between the drawing positioning plates and the reference objects on the left, right, top, and bottom sides of the wall, and measure the spacing between them. This allows the robot to identify whether the position of the line to be drawn is consistent with the drawing. If they are consistent, the third robotic arm is activated to draw the line on the wall. During this process, the controller determines the position of the drawing pen based on the position information of the two drawing positioning plates.

9. The method of using an intelligent robot for automatic line drawing and positioning of secondary structures as described in claim 8, characterized in that: The position of the drawing pen is determined as follows: Of the two drawing positioning plates, the left drawing positioning plate determines its position based on the distance 1 from its top to the top reference object, the distance 2 from its bottom to the structural base plate, and the distance 3 from its outer end to the left reference object. Similarly, the right drawing positioning plate determines its position based on the same standard. When the two drawing positioning plates are in the set coordinate position, the third robotic arm is controlled to draw lines on the wall between the two drawing positioning plates. The controller determines the relative position of the drawing pen between the two drawing positioning plates based on the servo signal on the third robotic arm. After completing a part of the drawing, the drawing positioning plate moves to a new position and continues to draw lines in the same way until all the wall drawing work is completed.

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