Man-machine cooperation navigation mechanism for building robot

Abstract

The utility model discloses a man-machine cooperation navigation mechanism for a building robot, which belongs to the technical field of navigation mechanisms, and comprises a building cleaning robot, a navigation auxiliary structure and a cooperation control mechanism, the navigation auxiliary structure comprises an image acquisition structure, a millimeter wave radar module, an auxiliary illumination structure and a navigation auxiliary controller, the cooperative control mechanism comprises a robot controller body and a placing sleeve, and the two sides of the placing sleeve are fixedly connected with a waistband. Therefore, field information can be collected in real time through the arranged image collection structure, whether foreign matter exists around or not is sensed through the millimeter wave radar module, illumination is provided through the auxiliary illumination structure, and an operator can conveniently change navigation information of the building cleaning robot and adjust a working route through the robot controller body according to the field information; and when the robot controller body is not used, the robot controller body can be placed in a placing sleeve fixed on the waist, so that the robot controller body is convenient to carry.

Description

Technical Field

[0001] The utility model relates to a navigation mechanism, in particular to a human-machine cooperative navigation mechanism for a construction robot, belonging to the technical field of navigation mechanisms. Background Art

[0002] Today, more and more companies are using robots to automate tasks on the construction site, such as self-driving trenchers and drones that can digitally recreate buildings. Devices like Roomba can even outline the location of each beam in the floor. As homes, office buildings and industrial sites are rising across the country, the future of the construction site has arrived. Robots that can lay bricks, build drywall and tie rebar are performing well in the construction industry. Construction robots, especially those used for floor leveling and garbage collection, need navigation systems to assist them in moving as required during work, thereby ensuring continuous construction and orderliness on site.

[0003] Existing cleaning robots usually have built-in navigation systems, which can be pre-programmed through controllers or computer programs and formulate fixed movement trajectories to ensure the orderly progress of work. However, this form will make the robot more rigid during movement. In addition, construction sites are usually more complicated. It is inevitable that accidents will occur if the robot only relies on its own program to run, and human-machine collaboration is needed for assistance. When an out-of-program situation occurs, the operator needs to adjust the navigation information in time to make the robot's operation more intelligent, scientific and safe. Therefore, in response to the above problems, a human-machine collaborative navigation mechanism for a construction robot is proposed. Utility Model Content

[0004] The technical problem to be solved by the utility model is to provide a human-machine collaborative navigation mechanism for a construction robot. When an out-of-program situation occurs, the navigation mechanism can allow the operator to adjust the navigation information in accordance with the collected on-site information in a timely manner, thereby making the operation of the robot more intelligent, scientific and safe, and solving the technical problem of the lack of human-machine collaborative measures in the robot's navigation mechanism in the prior art.

[0005] In order to solve the above problems, the following technical solutions are provided:

[0006] A human-machine collaborative navigation mechanism for a construction robot is designed, comprising a construction cleaning robot, a navigation auxiliary structure and a collaborative control mechanism, the navigation auxiliary structure comprising an image acquisition structure arranged on the front and rear end surfaces of the construction cleaning robot, a millimeter-wave radar module arranged at the bottom of the four side surfaces of the construction cleaning robot, an auxiliary lighting structure arranged on the front and rear end surfaces of the construction cleaning robot, and a navigation auxiliary controller arranged on the upper end surface of the construction cleaning robot, the collaborative control mechanism comprising a robot controller body and a placement sleeve, and belts are fixedly connected to both sides of the placement sleeve.

[0007] In the above-mentioned structural form, when the building cleaning robot is running, the image acquisition structure can collect on-site information in real time, so that the operator can know the current working environment. The millimeter wave radar module can sense whether there are foreign objects around the building cleaning robot. The auxiliary lighting structure can provide lighting when the ambient light conditions are poor. Information can be transmitted between the robot controller body and the navigation auxiliary controller, so that the operator can adjust the navigation information of the building cleaning robot and the working route through the robot controller body according to the on-site information. When the robot controller body is not in use, it can be placed in a placement sleeve fixed on the waist for easy carrying.

[0008] Furthermore, two symmetrically arranged positioning grooves are provided at the bottom of the robot controller body, an iron magnetic sheet is fixedly attached to the bottom of the positioning groove, two symmetrically arranged positioning strips are fixedly attached to the bottom of the placement sleeve, and a magnet sheet is fixedly attached to the upper end surface of the positioning strip.

[0009] The above-mentioned structural form can facilitate the placement of the robot controller body into the specified position in the placement sleeve. At the same time, the adsorption force between the iron magnetic sheet and the magnet sheet can fix the robot controller body in the placement sleeve, making it difficult to fall off.

[0010] Furthermore, the image acquisition structure includes a protective cover, in which a camera module is fixedly arranged, a front end of the camera module extends out of the protective cover, and a transparent cover is fixedly arranged on the front end surface of the protective cover.

[0011] The above structural form can collect image information of the current environment through the operation of the camera module, and provide a reference basis for the operator to adjust the navigation information.

[0012] Furthermore, the auxiliary lighting structure includes a mounting cover, in which an LED light board is fixedly arranged, and a reflector fixedly connected to the mounting cover is arranged at the front end of the LED light board.

[0013] In the above-mentioned structural form, the LED light panel can work and emit light to provide lighting when the ambient light conditions are poor, and the reflector can play a focusing role to enhance the lighting effect.

[0014] Furthermore, the navigation auxiliary controller includes a sealed shell, in which a control circuit module and a wireless transmission module are fixedly arranged, and the control circuit module and the wireless transmission module are electrically connected.

[0015] In the above structural form, the control circuit module can process the information collected by the image acquisition structure, the millimeter wave radar module and the auxiliary lighting structure and synchronize it to the wireless transmission module through the wireless transmission module.

[0016] Furthermore, the image acquisition structure, millimeter wave radar module and auxiliary lighting structure are electrically connected to the control circuit module through wires, the control circuit module is electrically connected to the building cleaning robot, and the wireless transmission module is wirelessly connected to the robot controller body.

[0017] The above structure can constitute a complete closed-loop signal transmission circuit and feedback control circuit.

[0018] Furthermore, a handle made of rubber material is fixedly provided on the upper end surface of the robot controller body.

[0019] The above structural form can facilitate the operator to pull out the robot controller body placed in the placement sleeve.

[0020] Compared with the prior art, the beneficial effects of the utility model are:

[0021] In the utility model, the image acquisition structure is set up to collect on-site information in real time, the millimeter wave radar module is used to sense whether there are foreign objects around, and the auxiliary lighting structure is used to provide lighting. At the same time, information can be transmitted between the robot controller body and the navigation auxiliary controller, which can facilitate the operator to change the navigation information of the building cleaning robot through the robot controller body according to the on-site information and adjust the working route. When the robot controller body is not in use, it can be placed in a placement sleeve fixed on the waist for easy carrying. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0024] Figure 2 This is a diagram of the navigation auxiliary structure of the utility model;

[0025] Figure 3 This is a schematic diagram of the structure of the cooperative control mechanism of the utility model;

[0026] Figure 4 This is a schematic diagram of the camera module structure of the utility model;

[0027] Figure 5 This is a schematic diagram of the auxiliary lighting structure of the utility model;

[0028] Figure 6 This is a schematic diagram of the structure of the navigation auxiliary controller of the present utility model.

[0029] In the figure: 1. Building cleaning robot; 2. Navigation auxiliary structure; 21. Image acquisition structure; 211. Protective cover; 212. Camera module; 213. Transparent cover; 22. Millimeter wave radar module; 23. Auxiliary lighting structure; 231. Mounting cover; 232. LED light board; 233. Reflector; 24. Navigation auxiliary controller; 241. Sealed shell; 242. Control circuit module; 243. Wireless transmission module; 3. Collaborative control mechanism; 31. Robot controller body; 311. Positioning slot; 312. Iron magnetic sheet; 32. Placement sleeve; 33. Belt; 34. Positioning strip; 341. Magnet sheet; 35. Handle. DETAILED DESCRIPTION

[0030] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0031] like Figure 1 - Figure 2 As shown, the present embodiment provides a human-machine collaborative navigation mechanism for a construction robot, comprising a construction cleaning robot 1, a navigation auxiliary structure 2 and a collaborative control mechanism 3, wherein the navigation auxiliary structure 2 comprises an image acquisition structure 21 arranged on the front and rear end surfaces of the construction cleaning robot 1, a millimeter-wave radar module 22 arranged at the bottom of the four side surfaces of the construction cleaning robot 1, an auxiliary lighting structure 23 arranged on the front and rear end surfaces of the construction cleaning robot 1, and a navigation auxiliary controller 24 arranged on the upper end surface of the construction cleaning robot 1. When the construction cleaning robot 1 is running, the image acquisition structure 21 can collect on-site information in real time, so that the operator can know the current working environment, the millimeter-wave radar module 22 can sense whether there are foreign objects around the construction cleaning robot 1, and the auxiliary lighting structure 23 can provide lighting when the ambient light conditions are poor. Information can be transmitted between the robot controller body 31 and the navigation auxiliary controller 24, so that the operator can adjust the navigation information of the construction cleaning robot 1 and adjust the working route through the robot controller body 31 according to the on-site information.

[0032] like Figure 3 As shown, the collaborative control mechanism 3 includes a robot controller body 31 and a placement sleeve 32, and a waist belt 33 is fixedly connected to both sides of the placement sleeve 32. The above structure can place the robot controller body 31 in the placement sleeve 32 fixed on the waist when it is not in use, which is easy to carry.

[0033] like Figure 3As shown, two symmetrically arranged positioning grooves 311 are provided at the bottom of the robot controller body 31, and an iron magnetic sheet 312 is fixedly attached to the bottom of the positioning groove 311. Two symmetrically arranged positioning bars 34 are fixedly attached to the bottom of the placement sleeve 32, and a magnet sheet 341 is fixedly attached to the upper end surface of the positioning bar 34. The above-mentioned structural form can facilitate the robot controller body 31 to be placed in the specified position in the placement sleeve 32. At the same time, the adsorption force between the iron magnetic sheet 312 and the magnet sheet 341 can fix the robot controller body 31 in the placement sleeve 32 to prevent it from falling off. In addition, a handle 35 made of rubber material is fixedly provided on the upper end surface of the robot controller body 31. This structure can facilitate the operator to pull out the robot controller body 31 placed in the placement sleeve 32.

[0034] like Figure 4 As shown, the image acquisition structure 21 includes a protective cover 211, in which a camera module 212 is fixedly arranged, and the front end of the camera module 212 extends out of the protective cover 211. A transparent cover 213 is fixed on the front end surface of the protective cover 211, which can collect image information of the current environment through the operation of the camera module 212, and provide a reference basis for the operator to adjust the navigation information.

[0035] like Figure 5 As shown, the auxiliary lighting structure 23 includes a mounting cover 231, in which an LED light board 232 is fixedly arranged, and a reflector 233 fixedly connected to the mounting cover 231 is arranged at the front end of the LED light board 232. The LED light board 232 can work and emit light to provide lighting when the ambient light conditions are poor, and the reflector 233 can play a focusing role to enhance the lighting effect.

[0036] like Figure 2 , Figure 6 As shown, the navigation auxiliary controller 24 includes a sealed shell 241, in which a control circuit module 242 and a wireless transmission module 243 are fixedly arranged, and the control circuit module 242 is electrically connected to the wireless transmission module 243. In the above-mentioned structural form, the control circuit module 242 can process the information collected by the image acquisition structure 21, the millimeter-wave radar module 22 and the auxiliary lighting structure 23 and synchronize the information to the wireless transmission module 243 through the wireless transmission module 243. In addition, the image acquisition structure 21, the millimeter-wave radar module 22 and the auxiliary lighting structure 23 are electrically connected to the control circuit module 242 through wires, the control circuit module 242 is electrically connected to the building cleaning robot 1, and the wireless transmission module 243 is wirelessly connected to the robot controller body 31. The above-mentioned structural form can constitute a complete closed-loop signal transmission circuit and feedback control circuit.

[0037] The use principle and use process of the utility model are as follows: when the building cleaning robot 1 is running, the image acquisition structure 21 can collect on-site information in real time, so that the operator can know the current working environment. The millimeter wave radar module 22 can sense whether there are foreign objects around the building cleaning robot 1, and then assist the operator to know whether there is a possibility of collision when moving the building cleaning robot 1 along the current moving path. The auxiliary lighting structure 23 can provide lighting when the ambient light conditions are poor, thereby improving the quality of image acquisition by the image acquisition structure 21 under poor light conditions.

[0038] Information can be transmitted between the robot controller body 31 and the navigation auxiliary controller 24, which makes it convenient for the operator to adjust the navigation information of the building cleaning robot 1 and the working route through the robot controller body 31 according to the on-site information. When the robot controller body 31 is not in use, it can be placed in the placement sleeve 32 fixed on the waist for easy carrying.

[0039] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention 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 a limitation on the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0040] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0041] The present invention is described above in conjunction with specific implementation methods, but it should be clear to those skilled in the art that these descriptions are exemplary and are not intended to limit the scope of protection of the present invention. Those skilled in the art can make various modifications and variations to the present invention based on the spirit and principles of the present invention, and these modifications and variations are also within the scope of the present invention.

Claims

1. A human-machine collaborative navigation mechanism for a construction robot, comprising a construction cleaning robot (1), a navigation auxiliary structure (2) and a collaborative control mechanism (3), It is characterized in that The navigation assistance structure (2) comprises an image acquisition structure (21) arranged on the front and rear end surfaces of the building cleaning robot (1), a millimeter wave radar module (22) arranged at the bottom of the four side surfaces of the building cleaning robot (1), an auxiliary lighting structure (23) arranged on the front and rear end surfaces of the building cleaning robot (1), and a navigation assistance controller (24) arranged on the upper end surface of the building cleaning robot (1). The cooperative control mechanism (3) comprises a robot controller body (31) and a placement sleeve (32), and a waist belt (33) is fixedly connected to both sides of the placement sleeve (32).

2. A human-machine collaborative navigation mechanism for a construction robot according to claim 1, It is characterized in that The robot controller body (31) has two symmetrically arranged positioning grooves (311) at the bottom, an iron magnetic sheet (312) is fixedly attached to the bottom of the positioning groove (311), and the placement sleeve (32) has two symmetrically arranged positioning bars (34) fixedly attached to the bottom, and a magnet sheet (341) is fixedly attached to the upper end surface of the positioning bar (34).

3. A human-machine collaborative navigation mechanism for a construction robot according to claim 1, It is characterized in that The image acquisition structure (21) comprises a protective cover (211), a camera module (212) is fixedly arranged in the protective cover (211), a front end of the camera module (212) extends out of the protective cover (211), and a transparent cover (213) is fixedly arranged on the front end surface of the protective cover (211).

4. The human-machine collaborative navigation mechanism for a construction robot according to claim 1, It is characterized in that The auxiliary lighting structure (23) comprises a mounting cover (231), an LED light board (232) is fixedly arranged in the mounting cover (231), and a reflector (233) fixedly connected to the mounting cover (231) is arranged at the front end of the LED light board (232).

5. The human-machine collaborative navigation mechanism for a construction robot according to claim 1, It is characterized in that The navigation auxiliary controller (24) comprises a sealed housing (241), in which a control circuit module (242) and a wireless transmission module (243) are fixedly arranged, and the control circuit module (242) and the wireless transmission module (243) are electrically connected.

6. A human-machine collaborative navigation mechanism for a construction robot according to claim 5, It is characterized in that The image acquisition structure (21), the millimeter wave radar module (22) and the auxiliary lighting structure (23) are electrically connected to a control circuit module (242) via wires, the control circuit module (242) is electrically connected to the building cleaning robot (1), and the wireless transmission module (243) is wirelessly connected to a robot controller body (31).

7. The human-machine collaborative navigation mechanism for a construction robot according to claim 1, It is characterized in that A handle (35) made of rubber material is fixedly provided on the upper end surface of the robot controller body (31).

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