Building one-meter line positioning robot capable of being adjusted in real time

Abstract

A building one-meter line positioning robot capable of being adjusted in real time belongs to the technical field of robots and comprises a robot body, walking wheels are arranged at the four corners of the lower end of the robot body and connected with the robot body through an active suspension mechanism, a control mechanism is arranged in the robot body, and an industrial area-array camera is arranged at the front end of the top of the robot body. A linear driving mechanism is arranged on one side of the front end of the robot body and connected with a movable laser transmitter, a fixed laser transmitter is installed below the movable laser transmitter, the walking wheels are driven by a hub motor, and a distance detection mechanism used for detecting the height change of the ground is further arranged at the bottom end of the robot body. The control mechanism is electrically connected with the power source, the industrial area-array camera, the active suspension mechanism, the linear driving mechanism, the movable laser transmitter, the fixed laser transmitter and the hub motor through wires. The one-meter line height marking accuracy can be improved, and the one-meter line marking efficiency is improved.

Description

Technical Field

[0001] This new type belongs to the field of robot technology, and specifically relates to a building one-meter line positioning robot with real-time adjustment. Background Art

[0002] The building one-meter line is the standard line for decoration and installation. Its main functions are to determine the height of the concrete leveling layer of the floor, the installation height of doors and windows, the installation height of switches, sockets, and distribution boxes, etc. The building one-meter line refers to the elevation that is 1 meter above the floor elevation after the indoor floor is completed. It is the height directly measured from the reference height and is 1 meter added to the building floor elevation line.

[0003] However, due to the relatively rough management of construction sites, there are often situations where the calibration of the building one-meter line is not standardized. In order to save labor costs, some construction teams only mark in the public areas of each floor, that is, the stair hall, or at the entrance of each household. In this way, before indoor decoration or installation, the one-meter line needs to be extended to each room. Almost all construction sites use infrared laser level instruments. That is, after leveling the infrared laser level instrument in the public area, the horizontal laser line is aligned with the one-meter line, and other rooms are calibrated by extending the horizontal laser line. This will have the following problems:

[0004] (1) There will be errors when manually using an infrared laser level instrument for leveling and the initial calibration of the one-meter line.

[0005] (2) When extending from the public area or the entrance of the household to each room, there will be varying degrees of obstruction, and multiple extensions are required, so the errors will accumulate. Content of the Utility Model

[0006] Aiming at the problems of the existing technology, this new type discloses a building one-meter line positioning robot with real-time adjustment. Based on the existing one-meter line elevation in the building as the starting point, this device can quickly calibrate the one-meter line elevation at various locations within the building structure, can adjust its own levelness according to the change of the ground surface height, and maintain the accuracy of the one-meter line elevation through adjustment, can reduce the difficulty of marking the one-meter line elevation, and improve the efficiency of one-meter line marking.

[0007] To achieve the above object, the technical solution of this utility model is:

[0008] A building one-meter line positioning robot with real-time adjustment, comprising a robot body. At the four corners of the lower end of the robot body, there are walking wheels, and the walking wheels are connected to the bottom of the robot body through an active suspension mechanism. Inside the robot body, there is a control mechanism. At the front end of the top of the robot body, there is an industrial area array camera. On one side of the front end of the robot body, there is a linear drive mechanism perpendicular to the base direction of the robot body. The linear drive mechanism is connected to a fixed seat, and a mobile laser emitter is installed horizontally forward on the fixed seat. At the front end of the robot body where the mobile laser emitter is located below, a fixed laser emitter is also installed horizontally forward. The walking wheels are driven by hub motors. At the bottom end of the robot body, there is also a distance detection mechanism for detecting changes in ground height. The control mechanism is electrically connected to a power supply, an industrial area array camera, an active suspension mechanism, a linear drive mechanism, a mobile laser emitter, a fixed laser emitter, and a hub motor through wires respectively.

[0009] Preferably, the robot body is also provided with a wireless signal transceiver device, and the control mechanism is signal-connected to the remote controller of the operator through the wireless signal transceiver device.

[0010] Preferably, the distance detection mechanism is a distance sensor arranged at the middle of the front and rear ends of the robot body and at one side of the hub of each walking wheel at the bottom of the robot body.

[0011] Preferably, the linear drive mechanism is a ball screw structure or an electric telescopic rod structure or a transmission chain structure or a transmission belt structure that drives the fixed seat to move back and forth in a direction perpendicular to the base of the robot body.

[0012] Preferably, the linear drive mechanism is a transmission belt structure, including a vertical plate fixedly connected to one side of the front end of the robot body in a direction perpendicular to the base of the robot body. At the upper and lower ends of the outer surface of the vertical plate, a driven wheel and a driving wheel are respectively rotatably connected. A transmission belt is connected between the driven wheel and the driving wheel. The central axis of the driving wheel penetrates the vertical plate and is in transmission connection with the output shaft of a servo motor arranged on the other side of the vertical plate. The servo motor is electrically connected to the control mechanism.

[0013] Preferably, 2 linear chutes are arranged side by side on the outer surface of the vertical plate in a direction perpendicular to the base of the robot body. Sliders are slidably connected in the 2 linear chutes. The fixed seat is respectively fixedly connected to the 2 sliders. A mobile laser emitter is fixedly connected horizontally to the front end of the fixed seat. The linear chutes limit the sliders to move only in the direction of the linear chutes. The fixed seat penetrates the transmission belt and is fixedly connected to the transmission belt. The transmission belt and the 2 sliders jointly limit the calibration light emitted by the mobile laser emitter to maintain horizontal forward while moving up and down.

[0014] Preferably, the rear end of the fixed laser emitter is fixedly connected to the front end of the robot body through a connecting member. A three-axis gyroscope sensor and a power supply are provided inside the robot body, and the three-axis gyroscope sensor is electrically connected to the control mechanism through a wire.

[0015] The beneficial effects of the novel real-time adjustment building one-meter line positioning robot are as follows:

[0016] Based on the existing one-meter line elevation in the building as the starting point, the novel can quickly calibrate the one-meter line elevation at various places in the building structure, can adjust its own level according to the change of the ground surface height and maintain the accuracy of the one-meter line elevation through adjustment, can reduce the difficulty of one-meter line elevation marking, and improve the one-meter line marking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional structure schematic diagram of the novel.

[0018] Figure 2 It is a side view structure schematic diagram of the novel.

[0019] Figure 3 It is a connection relationship schematic diagram of the vertical plate and the fixed seat of the novel.

[0020] 1. Robot body; 2. Traveling wheels; 3. Industrial area array camera; 4. Linear drive mechanism; 5. Fixed seat; 6. Mobile laser emitter; 7. Servo motor; 8. Control mechanism; 9. Distance sensor; 91. Front distance sensor; 10. Vertical plate; 101. Linear sliding groove; 102. Slide block; 11. Driven wheel; 12. Transmission belt; 13. Driving wheel; 14. Fixed laser emitter. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] The following description is only for the preferred embodiments of the novel, and is not intended to limit the protection scope of the novel. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the novel shall be included in the protection scope of the novel.

[0022] The following embodiments can be understood as separately expressing a part of the local structure or method of the novel, or can also be understood as the embodiments jointly explaining the connotation of a larger range of the structure or method of the novel.

[0023] Embodiment 1

[0024] A real-time adjustment building one-meter line positioning robot, as Figures 1 - 3As shown in the figure, it includes a robot body 1. At the four corners of the lower end of the robot body 1, there are walking wheels 2. The walking wheels 2 are connected to the bottom of the robot body 1 through an active suspension mechanism (not shown in the figure, which is a prior art). Inside the robot body 1, there is a control mechanism (not shown in the figure). At the front end of the top of the robot body 1, there is an industrial area array camera 3. On one side of the front end of the robot body 1, there is a linear drive mechanism perpendicular to the base direction of the robot body. The linear drive mechanism is connected to a fixed seat 5. On the fixed seat 5, a mobile laser emitter 6 is installed horizontally forward. At the front end of the robot body 1 where the mobile laser emitter 6 is located below, a fixed laser emitter 14 is also installed horizontally forward. The walking wheels 2 are driven by hub motors (not shown in the figure, which is a prior art). At the bottom end of the robot body 1, there is also a distance detection mechanism for detecting changes in the ground height. The control mechanism is electrically connected to the power supply, the industrial area array camera 3, the active suspension mechanism, the linear drive mechanism, the mobile laser emitter 6, the fixed laser emitter 14, and the hub motors through wires respectively.

[0025] In this embodiment, the control mechanism adopts an STM32 single-chip microcomputer. The robot body can be designed to move autonomously within a building structure or move within a building structure by being remotely controlled by an operator. Among them, there is algorithm software in the control mechanism for calculating the height of the one-meter line, so as to quickly mark the one-meter line by controlling the position of the mobile laser emitter.

[0026] Embodiment 2

[0027] As Figure 1 、 2 shown, the robot body 1 is also provided with a wireless signal transceiver device (not shown in the figure, which is a prior art). The control mechanism is signal-connected to the remote controller of the operator through the wireless signal transceiver device.

[0028] Embodiment 3

[0029] As Figure 1 、 2 shown, the distance detection mechanism is a distance sensor 9 arranged at the middle parts of the front and rear ends of the robot body 1 and at the bottom of the robot body where one side of the hub of each walking wheel 2 is located.

[0030] Embodiment 4

[0031] As Figure 1 、 2 shown, the linear drive mechanism is a ball screw structure or an electric telescopic rod structure or a transmission chain structure or a transmission belt structure for driving the fixed seat 5 to move back and forth in a direction perpendicular to the base of the robot body.

[0032] Embodiment 5

[0033] As Figure 1 、 2 shown, the linear drive mechanism is a transmission belt structure, including a vertical plate 10 fixedly connected to one side of the front end of the robot body 1 along the direction perpendicular to the base of the robot body. The upper and lower ends of the outer surface of the vertical plate 10 are respectively rotatably connected with a driven wheel 11 and a driving wheel 13. A transmission belt 12 is connected between the driven wheel 11 and the driving wheel 13. The central axis of the driving wheel 13 penetrates through the vertical plate 10 and is in transmission connection with the output shaft of a servo motor 7 arranged on the other side of the vertical plate 10. The servo motor 7 is electrically connected to the control mechanism.

[0034] In this embodiment, the number of turns and the rotation angle of the servo motor can be converted into the distance that the fixed seat moves up or down. By controlling the rotation of the servo motor through the control mechanism, the control of the moving distance of the fixed seat up and down can be realized, so that the mobile laser emitter can be moved to the elevation of the one-meter line to mark the one-meter line on the wall (after the laser line is projected onto the wall, mark it with a pen).

[0035] Embodiment 6

[0036] As Figure 2 、 3 shown, two linear chutes 101 arranged side by side are provided on the outer surface of the vertical plate 10 along the direction perpendicular to the base of the robot body. A slider 102 is slidably connected in the two linear chutes 101. The fixed seat 5 is fixedly connected to the two sliders 102 respectively. A mobile laser emitter 6 is fixedly connected horizontally at the front end of the fixed seat 5. The linear chutes 101 limit the slider 102 to move only along the direction of the linear chute. The fixed seat 5 penetrates through the transmission belt and is fixedly connected to the transmission belt. The transmission belt and the two sliders jointly limit the calibration light emitted by the mobile laser emitter to keep horizontal forward while moving up and down.

[0037] In this embodiment, in order to prevent the mobile laser emitter from tilting relative to the belt, two linear chutes and sliders are provided. The limit of the movement trajectory of the fixed seat is realized by the limit of the slider by the linear chute, and further the limit of the posture of the mobile laser emitter is realized, ensuring the accuracy of the measurement result.

[0038] Embodiment 7

[0039] As Figure 1 、 2 shown, the rear end of the fixed laser emitter 14 is fixedly connected to the front end of the robot body 1 through a connecting member. A three-axis gyroscope sensor (not shown in the figure, which is a prior art) and a power supply are arranged in the robot body 1. The three-axis gyroscope sensor is electrically connected to the control mechanism through a wire.

[0040] The using method of this new type includes the following steps:

[0041] A. Power on the device. The control mechanism fine-tunes the active suspension mechanisms of the four driving wheels based on the data collected by the distance sensors to keep the base of the robot body horizontal, locks the postures of the four wheels, and the fixed laser emitter and the movable laser emitter emit horizontal laser lines, entering the initial state. (In the initial state, the vertical distance between the horizontal laser lines of the fixed laser emitter and the movable laser emitter is fixed at 30 cm).

[0042] B. The industrial area array camera takes a picture facing the wall to identify the existing elevation lines on the wall and the projection points of the two horizontal laser lines on the wall.

[0043] C. The algorithm software calculates the two horizontal laser lines at a fixed distance (such as the above-mentioned 30 cm), calibrates the pixel point value of the fixed distance (i.e., the pixel point value of 30 cm relative to the industrial area array camera), and then calculates the distance between the horizontal laser line of the movable laser emitter and the existing one-meter line on the wall based on the pixel point value corresponding to 30 cm (if this distance is 1.5 times the pixel point value of the 30 cm fixed distance, then this distance is 45 cm). The position of the movable laser emitter is adjusted to the one-meter line position (i.e., moved up 45 cm) through the servo motor, so that the horizontal laser line of the movable laser emitter coincides with the one-meter line, locks the position of the movable laser emitter, turns off the fixed laser emitter, and the staff marks on the wall with a pen.

[0044] D. The operator controls the robot body to enter the indoor area. During the movement, the distance sensors located at the front and rear of the vehicle and at the four-wheel positions will collect the ground change situation in real time, and adjust the height of the movable laser emitter in a timely manner to always maintain the one-meter line height. Especially when the robot enters the bathroom and kitchen where the ground height is lower than that of other rooms, the projection point of the horizontal laser line of the movable laser emitter on the wall is adjusted to maintain the one-meter line height. The principle is as follows: when the robot body enters the kitchen, since the ground becomes lower, the front distance sensor 91 will detect a larger vertical distance A. The difference between this vertical distance A and the ground distance B outside the kitchen detected by the distance sensor on one side of the rear wheel hub is the height C that the robot body is about to descend. If it is necessary to calibrate the one-meter line in the kitchen, the movable laser emitter needs to be moved up by height C to compensate for the error caused by the descent of the robot body position; in addition, the three-axis gyroscope sensor will also collect the vehicle body posture data in real time, and the active suspension mechanisms on the four hub motors will adjust the posture of the robot body in real time to keep the base of the robot body horizontal.

[0045] E. After entering the room, the robot body faces different walls to complete the calibration of the one-meter line for the entire room.

Claims

1. A building one-meter line positioning robot with real-time adjustment, characterized in that: It includes a robot body. At the four corners of the lower end of the robot body, there are traveling wheels. The traveling wheels are connected to the bottom of the robot body through an active suspension mechanism. Inside the robot body, there is a control mechanism. At the front end of the top of the robot body, there is an industrial area array camera. On one side of the front end of the robot body, there is a linear drive mechanism perpendicular to the base direction of the robot body. The linear drive mechanism is connected to a fixed seat. On the fixed seat, a mobile laser emitter is installed horizontally forward. At the front end of the robot body where the mobile laser emitter is located below, a fixed laser emitter is also installed horizontally forward. The traveling wheels are driven by hub motors. At the bottom end of the robot body, there is also a distance detection mechanism for detecting changes in ground height. The control mechanism is electrically connected to the power supply, industrial area array camera, active suspension mechanism, linear drive mechanism, mobile laser emitter, fixed laser emitter, and hub motor through wires respectively.

2. The real-time adjustable building one-meter line positioning robot according to claim 1, characterized in that: The robot body is also provided with a wireless signal transceiver device. The control mechanism is signal-connected to the remote controller of the operator through the wireless signal transceiver device.

3. The real-time adjustable building one-meter line positioning robot according to claim 2, characterized in that: The distance detection mechanism is a distance sensor arranged at the middle parts of the front and rear ends of the robot body and at the bottom of the robot body on one side of each traveling wheel hub.

4. The real-time adjustable building one-meter line positioning robot according to claim 3, characterized in that: The linear drive mechanism is a ball screw structure or an electric telescopic rod structure or a transmission chain structure or a transmission belt structure that drives the fixed seat to move back and forth in a direction perpendicular to the base of the robot body.

5. The real-time adjustable building one-meter line positioning robot according to claim 4, characterized in that: The linear drive mechanism is a transmission belt structure, including a vertical plate fixedly connected to one side of the front end of the robot body in a direction perpendicular to the base of the robot body. At the upper and lower ends of the outer surface of the vertical plate, a driven wheel and a driving wheel are respectively rotatably connected. A transmission belt is connected between the driven wheel and the driving wheel. The central axis of the driving wheel penetrates through the vertical plate and is in transmission connection with the output shaft of a servo motor arranged on the other side of the vertical plate. The servo motor is electrically connected to the control mechanism.

6. The real-time adjustable building one-meter line positioning robot according to claim 5, characterized in that: On the outer surface of the vertical plate, there are 2 linearly arranged sliding grooves side by side in a direction perpendicular to the base of the robot body. A slider is slidably connected in the 2 sliding grooves. The fixed seat is fixedly connected to the 2 sliders respectively. At the front end of the fixed seat, a mobile laser emitter is fixedly connected horizontally. The sliding grooves limit the slider to move only along the direction of the sliding grooves. The fixed seat penetrates through the transmission belt and is fixedly connected to the transmission belt. The transmission belt and the 2 sliders jointly limit the calibration light emitted by the mobile laser emitter to remain horizontally forward while moving up and down.

7. A real-time adjustable building one-meter line positioning robot according to claim 6, characterized in that: The rear end of the fixed laser emitter is fixedly connected to the front end of the robot body through a connecting piece. Inside the robot body, there are a three-axis gyroscope sensor and a power supply. The three-axis gyroscope sensor is electrically connected to the control mechanism through a wire.

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