Vehicle-mounted RTK building construction automatic positioning robot

Abstract

The utility model discloses a vehicle-mounted RTK building construction automatic positioning robot, and relates to the technical field of building construction positioning, equipment comprises a Mecanum wheel robot, and further comprises an RTK positioning instrument, the RTK positioning instrument is fixedly arranged above the Mecanum wheel robot, and the RTK positioning instrument further comprises a positioning instrument telescopic rod and a positioning instrument handbook. The utility model provides a vehicle-mounted RTK building construction automatic positioning robot which can accurately reach a specified coordinate position according to pre-drawn coordinate information imported into a construction site drawing of an RTK positioning instrument, the problems of low positioning efficiency and large error in traditional construction are solved, and the mobile robot adopts Mecanum wheels, so that the positioning efficiency is greatly improved. The maneuverability and the flexibility of the robot are improved, so that the robot can stably move and position in a construction site with a complex environment, remarkable improvement and optimization are brought to the technical field of building construction positioning, and good economical efficiency and practicability are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of building construction, in particular to a vehicle-mounted RTK building construction automatic positioning robot. Background Art

[0002] With the rapid development of the modern economy, the application of artificial intelligence technology in construction is becoming more and more extensive, and the requirements for precision in construction are also increasing. Especially in large-scale engineering projects with complex designs, intelligent integrated positioning technology is particularly critical. If the positioning and laying-out technology is not applied correctly, it will not only affect the subsequent construction and construction progress of the building project, but may also seriously reduce the quality of the project and even bring major safety hazards. Therefore, based on the analysis of the difficulties of measurement technology under multiple environmental factors, accurate measurement and positioning have become a major challenge facing construction. However, the existing positioning and ranging methods that only use total stations or other positioning instruments often have deficiencies in real-time interactivity, ease of operation and accuracy on site. In addition, this method requires staff to hold a locator on site for operation, resulting in large human resource consumption, low efficiency and large errors.

[0003] Based on this, a vehicle-mounted RTK construction automatic positioning robot is now provided, which can eliminate the drawbacks of existing equipment. Utility Model Content

[0004] The utility model aims to provide a vehicle-mounted RTK construction automatic positioning robot to solve the problems of low positioning efficiency and large errors in traditional construction, reduce manual intervention, thereby improving construction efficiency and safety and ensuring project quality.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A vehicle-mounted RTK automatic positioning robot for construction includes a Mecanum wheel robot, and is characterized in that it also includes an RTK locator, wherein the RTK locator is fixedly arranged above the Mecanum wheel robot.

[0007] Preferably, the Mecanum wheel robot includes four rollers, including a right front roller, a left front roller, a left rear roller, and a right rear roller. The inner wall of the right front roller is rotatably connected to the right front wheel drive motor, and the inner wall of the left front roller is rotatably connected to the left front wheel drive motor.

[0008] Preferably, the suspension device includes a front suspension and a rear suspension, wherein the upper end of the front suspension is connected to the bottom side of the top plate, and the lower end is connected to the right front axle, and the upper end of the rear suspension is connected to the bottom side of the top plate, and the lower end is connected to the right rear axle.

[0009] Preferably, the RTK locator includes an RTK surveying head, a locator telescopic rod and a locator handbook. The RTK surveying head is fixedly installed on the upper end of the locator telescopic rod, and a connecting block is fixedly installed on the lower end. The locator handbook is fixedly clamped on the locator telescopic rod by a handbook screw fixing button.

[0010] Preferably, an emergency stop button and a power on button are fixedly mounted on the top plate.

[0011] Preferably, a main control unit, a direction sensor, a main controller core chip and a display screen are placed on the upper end of the bottom plate of the Mecanum wheel robot, and the main control unit, the direction sensor, the main controller core chip and the display screen are connected by a connecting line.

[0012] Preferably, a SLAM camera and a laser radar are arranged on the top of the Mecanum wheel robot, and the SLAM camera is fixed in front of the laser radar.

[0013] Preferably, a battery is fixedly mounted on the bottom plate of the Mecanum wheel robot, and the battery is configured as a 24V lithium-ion battery.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0015] The utility model provides a vehicle-mounted RTK construction automatic positioning robot, which can import the RTK positioning instrument according to the coordinate information of the pre-drawn construction site drawings, so that the robot can accurately reach the specified coordinate position, solving the problem of low positioning efficiency and large error in traditional construction. In addition, the mobile robot adopts Mecanum wheels, which increases the stability and safety of the robot during movement, and has good economy and practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the utility model.

[0017] Figure 2 It is a top view of the utility model.

[0018] Figure 3 It is a left view of the utility model.

[0019] Figure 4 It is a top view of the chassis of the utility model.

[0020] Figure numerals: 1. right front roller; 2. left front roller; 3. left rear roller; 4. right rear roller; 5. left front wheel drive motor; 6. right front wheel drive motor; 7. right front axle; 8. left front axle; 9. left rear axle; 10. right rear axle; 11. right rear wheel drive motor; 12. left rear wheel drive motor; 13. Mecanum wheel robot; 14. front suspension; 15. rear suspension; 16. suspension device; 17. connecting block; 18. RTK mapping head; 19. emergency stop button; 20. RTK positioning device; 21 , locator handbook; 22. Handbook screw fixing button; 23. Main control unit; 24. Sensor; 25. Main controller core chip; 26. Display screen; 27. Connecting wire; 28. Battery; 29. ​​Secondary development interface; 30. Locator switch button; 31. Prompt light; 32. Data sending and uploading light; 33. Charging interface; 34. Bottom plate; 35. Top plate; 36. Front bracket; 37. Locator telescopic rod; 38. SLAM camera; 39. LiDAR; 40. Power button. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0022] Example 1

[0023] In this embodiment, if Figure 1-Figure 4 As shown, a vehicle-mounted RTK construction automatic positioning robot includes a Mecanum wheel robot 13. The robot roller adopts four Mecanum wheels with a compact structure and strong flexibility. The layout of the wheels is symmetrical to the center of the robot so that it has three-degree-of-freedom movement ability to achieve omnidirectional movement. An RTK locator 20 is placed on the top plate 35 of the Mecanum wheel robot 13 to locate the building. When the RTK locator is started, the locator switch button 30 is pressed. When the prompt light 31 is on, the RTK locator 20 starts to enter the working state;

[0024] Among them Figure 1-Figure 4As shown, the rollers include a right front roller 1, a left front roller 2, a left rear roller 3 and a right rear roller 4. When the four wheels rotate forward, the robot 13 will move forward; when the four wheels rotate backward, the robot will move backward; when the left front wheel 2 and the right rear wheel 4 rotate backward, the right front wheel 1 and the left rear wheel 3 rotate forward, the robot will move to the left; when the right front wheel 1 and the left rear wheel 3 rotate backward, the left front wheel 2 and the right rear wheel 4 rotate forward, the robot will move to the right; when the left front wheel 2 and the left rear wheel 4 rotate backward, the right front wheel 1 and the right rear wheel 4 rotate forward, the robot will rotate counterclockwise; when When the right front wheel 1 and the right rear wheel 4 rotate in the opposite direction and the left front wheel 2 and the left rear wheel 3 rotate forward, the robot will rotate clockwise; when the left front wheel 2 and the right rear wheel 4 rotate forward and the right front wheel 1 and the left rear wheel 3 do not move, the robot will move to the upper right; when the left front wheel 2 and the right rear wheel 4 rotate in the opposite direction and the right front wheel 1 and the left rear wheel 3 do not move, the robot will move to the lower left; when the right front wheel 1 and the left rear wheel 3 rotate forward and the left front wheel 2 and the right rear wheel 4 do not move, the robot will move to the upper left; when the right front wheel 1 and the left rear wheel 3 rotate in the opposite direction and the left front wheel 2 and the right rear wheel 4 do not move, the robot will move to the lower right;

[0025] Among them Figure 1-Figure 3 As shown, the length of the telescopic rod 37 of the locator can be adjusted to adapt to the positioning at different heights in the construction scene. The upper end of the telescopic rod 37 of the locator is fixedly provided with an RTK mapping head 18, and the RTK mapping head 18 is fixedly connected through the thread on the upper part of the telescopic rod 37 of the locator. The middle part of the outer surface of the lower end of the telescopic rod 37 of the locator is fixedly installed with a connecting block 17. The connecting block 17 fixes the RTK locator 20 above the top plate 35. The locator handbook 21 is mainly used to load map data, record and display the status information and measurement data of the RTK locator 20;

[0026] Among them Figure 1 As shown, the suspension device 16 includes a front suspension 14 and a rear suspension 15. The upper end of the front suspension 14 is connected to the bottom side of the top plate 35, and the lower end is connected to the right front axle 7. The upper end of the rear suspension 15 is connected to the bottom side of the top plate 35, and the lower end is connected to the right rear axle 10. The suspension device 16 enables the robot to move forward smoothly in a complex environment.

[0027] Among them Figure 1 and Figure 4 As shown, the left front wheel drive motor 5, the right front wheel drive motor 6, the right rear wheel drive motor 11 and the left rear wheel drive motor 12 use large torque reduction motors equipped with AB two-phase Hall encoders, with a rated torque of 55.7KG*cm and a rated speed of 175rpm. The Mecanum wheels connected to the motor couplings form a travel mechanism to achieve multi-directional movement;

[0028] Among them Figure 1 and Figure 2As shown, an emergency stop button 19 and a power button 40 are fixedly mounted on the top plate 35. When the power button 40 is pressed, the robot starts to start. When an emergency or dangerous event occurs, the emergency stop button 19 is pressed to quickly cut off the power supply to prevent further danger or damage to the machine. When the machine is started next time, it is necessary to check whether the emergency stop button 19 pops up. If it does not pop up, the robot cannot be started.

[0029] Among them Figure 4 As shown, a battery 28 is fixedly mounted on the bottom plate 34 of the Mecanum wheel robot 13. The battery 28 is set to be a 24V lithium-ion battery. The battery voltage is displayed on the display screen 26. When the battery power is lower than 21V, it needs to be charged in time. The battery has its own over-discharge and over-charge protection.

[0030] Example 2

[0031] The difference from Example 1 is that Figure 4 As shown, a main control unit 23, a sensor 24, a main controller core chip 25 and a display screen 26 are fixedly placed on the bottom plate 34 of the Mecanum wheel robot 13. The main control unit 23 is set to be a RK3566AI chip. The sensor 24 includes a speed sensor, an angle sensor, etc., which are used to detect the speed and angle of the robot in real time. The main control core chip 25 mainly uses STM 32F429 for real-time control and signal processing. At the same time, a secondary development interface 29 is provided to support later function expansion. The display screen 26 is used to display current position information, speed, etc.

[0032] A SLAM camera 38 is provided on the top of the Mecanum wheel robot 13. The SLAM camera is fixed in front of the laser radar. When the robot presses the power button 40 to start, the SLAM camera 38 senses the surrounding environment through the built-in camera, captures visual information, and uses the image data obtained by the camera to calculate and update the position of the device in three-dimensional space in real time for positioning. At the same time, the SLAM camera 38 uses the perceived visual information to build a real-time environmental map, including obstacles, feature points, etc. The SLAM camera 38 also integrates an inertial measurement unit IMU, which can improve the accuracy of positioning, and can continuously update the positioning and map in real time when the robot moves, and can adapt to complex environments. The laser radar 39 is fixed behind the SLAM camera 38. The laser radar 39 uses the characteristics of the laser beam to measure the distance and position of the target, and can provide high-precision distance and position information. The SLAM camera 38 can capture rich visual information through real-time map construction and positioning. The combination of the SLAM camera 38 and the laser radar 39 can adapt to environments that require rapid response and complex scene changes, and provide the robot with more powerful navigation and obstacle avoidance capabilities. The RTK locator 20 is fixed on the upper end of the robot. When the point to be staked is far away, the vehicle-mounted RTK robot moves according to the planned path, saving time, reducing labor consumption, and thus saving costs.

[0033] The above is only a specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A vehicle-mounted RTK automatic positioning robot for construction, comprising a Mecanum wheel robot (13), characterized in that: It also includes an RTK locator (20), wherein the RTK locator (20) is fixedly arranged above the Mecanum wheel robot (13); The suspension device (16) comprises a front suspension (14) and a rear suspension (15), wherein the upper end of the front suspension (14) is connected to the bottom side of the top plate (35), and the lower end is connected to the right front axle (7); the upper end of the rear suspension (15) is connected to the bottom side of the top plate (35), and the lower end is connected to the right rear axle (10); The RTK positioning instrument (20) comprises an RTK surveying head (18), a positioning instrument telescopic rod (37) and a positioning instrument handbook (21); the RTK surveying head (18) is fixedly arranged at the upper end of the positioning instrument telescopic rod (37), and a connecting block (17) is fixedly installed at the lower end; the positioning instrument handbook (21) is fixedly clamped on the positioning instrument telescopic rod (37) by a handbook screw fixing button (22).

2. The vehicle-mounted RTK construction automatic positioning robot according to claim 1, characterized in that: The Mecanum wheel robot (13) comprises four rollers, wherein the rollers comprise a right front roller (1), a left front roller (2), a left rear roller (3), and a right rear roller (4); the inner wall of the right front roller (1) is rotatably connected to a right front wheel drive motor (6), and the inner wall of the left front roller (2) is rotatably connected to a left front wheel drive motor (5).

3. The vehicle-mounted RTK construction automatic positioning robot according to claim 1, characterized in that: An emergency stop button (19) and a power on button (40) are fixedly mounted on the top plate (35).

4. The vehicle-mounted RTK construction automatic positioning robot according to claim 1, characterized in that: A main control unit (23), a sensor (24), a main controller core chip (25) and a display screen (26) are placed on the upper end of the bottom plate (34) of the Mecanum wheel robot (13); the main control unit (23), the sensor (24), the main controller core chip (25) and the display screen (26) are connected via a connecting line (27).

5. The vehicle-mounted RTK construction automatic positioning robot according to claim 1, characterized in that: A SLAM camera (38) and a laser radar (39) are arranged on the top of the Mecanum wheel robot (13), and the SLAM camera (38) is fixed in front of the laser radar (39).

6. The vehicle-mounted RTK construction automatic positioning robot according to claim 1, characterized in that: A storage battery (28) is fixedly mounted on the bottom plate of the Mecanum wheel robot (13), and the storage battery (28) is configured as a 24V lithium-ion battery.

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