Scribing robot for obstacle sensing device

Abstract

A scribing robot for an obstacle sensing device comprises a robot body and an elastic detection mechanism, and the robot body comprises a carrier, moving wheels and a scribing mechanism; moving wheels are arranged on the two sides of the carrier correspondingly and used for driving the carrier to move. The scribing mechanism is arranged on one side of the carrier and used for scribing; the elastic mechanism comprises an elastic piece and a deformation sensor; the deformation sensor is used for sensing whether the elastic piece deforms or not; the carrier is provided with a processing device, and the deformation sensor is electrically connected with the processing device. The elastic detection mechanism is arranged at the front end of the carrier, when the carrier encounters an obstacle in the moving process, the elastic piece firstly collides with the obstacle, at the moment, due to the fact that the elastic piece has certain elasticity, the elastic piece can deform, and after the elastic piece deforms, the deformation sensor can conduct induction; therefore, a signal for stopping operation is sent to the processing device, and the effect of protecting the scribing robot is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of line - marking robots, in particular to a line - marking robot for an obstacle perception device. Background Art

[0002] In the construction industry, construction line - marking is to pop the reference lines of building components or formworks on the construction ground during the construction process to facilitate workers to carry out construction operations according to the design drawings. Workers then take this reference line as the standard to carry out construction operations such as steel bar binding, formwork assembly, and component installation, ensuring the safe and smooth progress of the construction project according to the design requirements.

[0003] Currently, there are two methods for construction line - marking. One is that ordinary workers use measuring equipment (such as levels) to mark straight line segments on the working plane. Or use a line - marking robot for automatic line - marking.

[0004] However, at a construction site, there are often many sundries, and at the same time, the steel bar heads protrude on the formwork assembly surface, which will affect the operation of the line - marking robot. Currently, the mobile robot's perception of obstacles usually adopts methods such as ultrasonic, vision, laser ranging, lidar, etc. The above methods are not entirely applicable to the line - marking robot. Typical scenarios are that in the vertical plane where the positioning line of the concrete pouring formwork is located, there are often situations such as steel bar heads protruding, ground water pipes protruding, and non - standard operations during steel bar binding, which affect the robot's driving and collision with the inkjet cartridge. Obviously, the above methods for obstacle perception cannot perceive and judge obstacles in a specific plane. Therefore, a line - marking robot that can improve the adaptability to the construction site is urgently needed. Content of the Utility Model

[0005] Aiming at the above - mentioned defects, the purpose of the utility model is to provide a line - marking robot for an obstacle perception device, which is used to solve the situation that the existing line - marking robot cannot effectively perceive sundries and protruding steel bars in the construction site and protect the safe driving of the line - marking robot.

[0006] To achieve this purpose, the utility model adopts the following technical solutions: A line - marking robot for an obstacle perception device includes a robot body and an elastic detection mechanism. The robot body includes a carrier, moving wheels, and a line - marking mechanism;

[0007] Moving wheels are respectively arranged on both sides of the carrier, and the moving wheels are used to drive the carrier to move;

[0008] The line - marking mechanism is arranged on one side of the carrier, and the line - marking mechanism is used for line - marking;

[0009] The elastic detection mechanism includes an elastic member and a deformation sensor;

[0010] The elastic member is disposed at the front end of the carrier, and the deformation sensor is mounted on the surface of the elastic member. The deformation sensor is used to sense whether the elastic member deforms;

[0011] The carrier is provided with a processing device, and the deformation sensor is electrically connected to the processing device.

[0012] Preferably, the left and right sides of the elastic member are flush with or protrude from the two sides of the robot body respectively.

[0013] Preferably, the elastic member includes a mounting base and elastic contacts. The mounting base is fixedly mounted on the front side of the carrier, and at least two elastic contacts are provided. The two elastic contacts are horizontally and detachably mounted on the left and right ends of the mounting base respectively.

[0014] Preferably, the elastic contacts include at least two groups of first contacts and two groups of second contacts;

[0015] The first contacts and the second contacts are respectively arranged up and down on the mounting base,

[0016] The two first contacts are horizontally mounted on the left and right ends of the mounting base respectively;

[0017] The two second contacts are horizontally mounted on the left and right ends of the mounting base respectively;

[0018] Wherein the first contact is flush with or protrudes from one side of the robot body;

[0019] The second contact is flush with or protrudes from one side of the moving wheel;

[0020] The second contact is located at the lowermost part of the carrier.

[0021] Preferably, the mounting base includes a first base and a second base;

[0022] Both the first base and the second base are disposed at the front end of the carrier, and the first base is located above the second base, and the second base is located at the lowermost part of the carrier;

[0023] The first contact is mounted on the first base;

[0024] The second contact is mounted on the second base.

[0025] Preferably, at least two deformation sensors are provided on the first contact and the second contact.

[0026] Preferably, the two deformation sensors are located between the moving wheel and the first base, or the deformation sensor is located between the moving wheel and the second base.

[0027] Preferably, the distance between the deformation sensors located on the same first contact or second contact is 5 to 10 cm.

[0028] One of the technical solutions in the above technical solutions has the following advantages or beneficial effects: The elastic detection mechanism is arranged at the front end of the carrier. When the carrier encounters an obstacle during movement, the elastic member will first collide with the obstacle. At this time, due to the certain elasticity of the elastic member, the elastic member can deform. When the elastic member deforms, the deformation sensor will sense it, and thus send a signal to stop the operation to the processing device, achieving the effect of protecting the line marking robot. Description of the Drawings

[0029] Figure 1 is a schematic structural diagram of an embodiment of the present invention.

[0030] Figure 2 is a schematic structural diagram of another embodiment of the present invention.

[0031] Among them: line marking robot 1, carrier 1a, moving wheel 1b, elastic detection mechanism 2, elastic member 2a, mounting seat 2aa, first seat 2aaa, second seat 2aab, elastic contact 2ab, first contact 2aba, second contact 2abb, deformation sensor 2b. Detailed Embodiment

[0032] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0034] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality" is two or more.

[0035] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and defined, the terms "mounted", "connected" and "coupled" shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0036] As Figures 1-2 shown, a line marking robot for an obstacle perception device includes a robot body (1) and an elastic detection mechanism (2). The robot body (1) includes a carrier (1a), moving wheels (1b) and a line marking mechanism.

[0037] Moving wheels (1b) are respectively arranged on both sides of the carrier (1a), and the moving wheels (1b) are used to drive the carrier (1a) to move.

[0038] The line marking mechanism is arranged on one side of the carrier (1a), and the line marking mechanism is used for line marking.

[0039] The elastic detection mechanism includes an elastic member (2a) and a deformation sensor (2b).

[0040] The elastic member (2a) is arranged at the front end of the carrier (1a), the deformation sensor (2b) is mounted on the surface of the elastic member (2a), and the deformation sensor (2b) is used to sense whether the elastic member (2a) deforms.

[0041] The carrier (1a) is provided with a processing device, and the deformation sensor (2b) is electrically connected to the processing device.

[0042] In the present utility model, currently, mobile robots usually sense obstacles by means such as ultrasonic waves, vision, laser ranging, lidar, etc. However, when detecting by the above methods, the wall is easily regarded as an obstacle, thus affecting the operation of the robot. The above methods are not applicable to the robot body (1) to a certain extent. Therefore, in the present utility model, an elastic detection mechanism (2) is provided. The elastic detection mechanism (2) is arranged at the front end of the carrier (1a). When the carrier (1a) encounters an obstacle during movement, the elastic member (2a) will first collide with the obstacle. At this time, due to the elasticity of the elastic member (2a), the elastic member (2a) can deform. After the elastic member (2a) deforms, the deformation sensor (2b) will sense it and send a signal to stop the operation to the processing device, thereby protecting the robot body (1). After the robot body (1) returns along the path, the elastic member (2a) returns to its original state and can be reused.

[0043] Preferably, the left and right sides of the elastic member (2a) are flush with or protrude from the two sides of the robot body (1) respectively.

[0044] Since the elastic member (2a) is used to identify the obstacle only after colliding with the obstacle, in order to further protect the robot body (1), the left and right ends of the elastic member (2a) can protrude from the two sides of the robot body (1), thereby increasing the protection range when the robot body (1) is moving. Preferably, in order to avoid an overly large protection range, it is optimal that the left and right sides of the elastic member (2a) protrude 2 - 5 cm from the two sides of the robot body (1).

[0045] Preferably, the elastic member (2a) includes a mounting seat (2aa) and elastic contacts (2ab). The mounting seat (2aa) is fixedly installed on the front side of the carrier (1a). At least two elastic contacts (2ab) are provided, and the two elastic contacts (2ab) are horizontally and detachably installed at the left and right ends of the mounting seat (2aa) respectively.

[0046] If only one elastic contact (2ab) is used for detection, the length of the elastic contact (2ab) will become longer at this time, and the bending stiffness will become smaller. When the robot body (1) is moving, if the moving wheel (1b) encounters a pebble, it may vibrate. At this time, due to the small bending stiffness of the elastic contact (2ab), the elastic contact (2ab) may vibrate and bend, thus triggering the deformation sensor (2b) and causing misjudgment. Therefore, in this practical application, two elastic contacts (2ab) are set to replace the single elastic contact (2ab), thereby reducing the length of the elastic contact (2ab) to increase the bending stiffness of the elastic contact (2ab) and reducing the occurrence of misjudgment.

[0047] As Figure 1 shown, the elastic contact (2ab) includes at least two sets of first contacts (2aba) and two sets of second contacts (2abb);

[0048] The first contacts (2aba) and the second contacts (2abb) are respectively arranged up and down on the mounting base (2aa),

[0049] Two of the first contacts (2aba) are respectively horizontally installed at the left and right ends of the mounting base (2aa);

[0050] Two of the second contacts (2abb) are respectively horizontally installed at the left and right ends of the mounting base (2aa);

[0051] Wherein the first contacts (2aba) are flush with or protrude from one side of the robot body (1);

[0052] The second contacts (2abb) are flush with or protrude from one side of the moving wheel (1b);

[0053] The second contacts (2abb) are located at the lowermost part of the carrier (1a).

[0054] In an embodiment of the present utility model, there are two types of elastic contacts (2ab), namely the first contacts (2aba) and the second contacts (2abb). The first contacts (2aba) are arranged above and are used to detect protruding obstacles on the wall, while the second contacts (2abb) are used to detect obstacles on the form path. Therefore, the second contacts (2abb) are arranged at the lowermost part of the carrier (1a), and the robot body (1) is protected in multiple aspects by arranging different elastic contacts (2ab).

[0055] As Figure 2 shown, the mounting base (2aa) includes a first base (2aaa) and a second base (2aab);

[0056] Both the first base (2aaa) and the second base (2aab) are arranged at the front end of the carrier (1a), and the first base (2aaa) is located above the second base (2aab), and the second base (2aab) is located at the lowermost part of the carrier (1a);

[0057] The first contacts (2aba) are installed on the first base (2aaa);

[0058] The second contacts (2abb) are installed on the second base (2aab).

[0059] In an embodiment of the utility model, the first contact (2aba) and the second contact (2abb) are not installed on the same mounting base (2aa). By setting different positions of the first base (2aaa), the position of the first contact (2aba) is adjusted, thereby improving the adaptability of the robot body (1) in different working scenarios.

[0060] Preferably, at least two of the deformation sensors (2b) are provided between the first contact (2aba) and the second contact (2abb).

[0061] The deformation sensor (2b) participates in the control of the robot body (1) by detecting the deformation of the elastic contact (2ab). When the deformed part is far from the deformation sensor (2b), it may cause the deformation sensor (2b) to fail to trigger. Therefore, in the present utility model, a plurality of deformation sensors (2b) are provided to avoid the occurrence of missed detection.

[0062] Preferably, the two deformation sensors (2b) are located between the moving wheel (1b) and the first base (2aaa), or the deformation sensor (2b) is located between the moving wheel (1b) and the second base (2aab).

[0063] Since the part of the elastic contact (2ab) protruding from the moving wheel (1b) is more likely to collide with an obstacle, and the deformation sensor (2b) is a fragile electronic component, in order to protect the deformation sensor (2b), in the present utility model, the deformation sensor (2b) is arranged between the moving wheel (1b) and the first base (2aaa) or between the moving wheel (1b) and the second base (2aab).

[0064] Preferably, the distance between the deformation sensors (2b) located on the same first contact (2aba) or second contact (2abb) is 5 - 10 cm.

[0065] If the distance between the deformation sensors (2b) is too large, it may cause the occurrence of missed detection. If the distance between the deformation sensors (2b) is too small, it may cause the situation that two deformation sensors (2b) detect the same deformation repeatedly. Therefore, when the distance between the deformation sensors (2b) located on the same first contact (2aba) or second contact (2abb) is 5 - 10 cm, the deformation sensors (2b) can be effectively separated, thereby improving the detection efficiency.

[0066] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0067] Although the embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present utility model, and the scope of the present utility model is defined by the claims and their equivalents.

Claims

1. A scribing robot for an obstacle perception device, characterized in that, It includes a robot body (1) and an elastic detection mechanism (2). The robot body (1) includes a carrier (1a), moving wheels (1b), and a scribing mechanism; Moving wheels (1b) are respectively arranged on both sides of the carrier (1a), and the moving wheels (1b) are used to drive the carrier (1a) to move; The scribing mechanism is arranged on one side of the carrier (1a), and the scribing mechanism is used for scribing; The elastic detection mechanism (2) includes an elastic member (2a) and a deformation sensor (2b); The elastic member (2a) is arranged at the front end of the carrier (1a), the deformation sensor (2b) is installed on the surface of the elastic member (2a), and the deformation sensor (2b) is used to sense whether the elastic member (2a) deforms; The carrier (1a) is provided with a processing device, and the deformation sensor (2b) is electrically connected to the processing device.

2. The scribing robot for an obstacle perception device according to claim 1, wherein, The left and right sides of the elastic member (2a) are respectively flush with or protrude from both sides of the robot body (1).

3. The scribing robot for an obstacle perception device according to claim 1, wherein The elastic member (2a) includes a mounting seat (2aa) and elastic contacts (2ab). The mounting seat (2aa) is fixedly installed on the front side of the carrier (1a), and at least two elastic contacts (2ab) are provided. The two elastic contacts (2ab) are respectively horizontally and detachably installed at the left and right ends of the mounting seat (2aa).

4. A scribing robot for an obstacle sensing device according to claim 3, wherein The elastic contact (2ab) includes at least two groups of first contacts (2aba) and two groups of second contacts (2abb); The first contacts (2aba) and the second contacts (2abb) are respectively arranged up and down on the mounting seat (2aa), The two first contacts (2aba) are respectively horizontally installed at the left and right ends of the mounting seat (2aa); The two second contacts (2abb) are respectively horizontally installed at the left and right ends of the mounting seat (2aa); Wherein the first contact (2aba) is flush with or protrudes from one side of the robot body (1); The second contact (2abb) is flush with or protrudes from one side of the moving wheel (1b); The second contact (2abb) is located at the lowermost part of the carrier (1a).

5. The scribing robot for an obstacle perception device according to claim 4, wherein, The mounting seat (2aa) includes a first seat (2aaa) and a second seat (2aab); The first seat (2aaa) and the second seat (2aab) are both arranged at the front end of the carrier (1a), and the first seat (2aaa) is located above the second seat (2aab), and the second seat (2aab) is located at the lowermost part of the carrier (1a); The first contact (2aba) is installed on the first seat (2aaa); The second contact (2abb) is installed on the second seat (2aab).

6. The scribing robot for an obstacle perception device according to claim 5, wherein, At least two deformation sensors (2b) are provided for the first contact (2aba) and the second contact (2abb).

7. A scribing robot for an obstacle sensing device according to claim 6, characterized in that, The two deformation sensors (2b) are located between the moving wheel (1b) and the first seat (2aaa), or the deformation sensor (2b) is located between the moving wheel (1b) and the second seat (2aab).

8. A scribing robot for an obstacle sensing device according to claim 6, wherein, The spacing between the deformation sensors (2b) located on the same first contact (2aba) or second contact (2abb) is between 5 and 10 cm.

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