Mobile building quality detection robot

Abstract

The utility model discloses a mobile building quality detection robot, relates to the technical field of robots, and aims to solve the problem that an existing building quality detection robot cannot guarantee the detection range and the moving stability at the same time. Comprising a mobile robot body; the mechanical arm is provided with a first joint, a second joint, a third joint and a fourth joint, one end of the first joint is rotationally arranged on the mobile robot body, one end of the second joint is arranged at the first driving end of the first joint, and the second joint can stretch out and draw back relative to the first joint; one end of the third joint is arranged at the second driving end of the second joint and can rotate relative to the second joint, and the fourth joint is arranged at the third driving end of the third joint and can rotate relative to the third joint; the size of the second joint is larger than the size of the first joint, the size of the third joint and the size of the fourth joint.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a mobile building quality inspection robot. Background Art

[0002] House quality inspection is an important task carried out after the completion of house construction. By inspecting the house quality, we can ensure that the house's structural safety and quality meet standards, and avoid subsequent problems and risks caused by houses with quality defects. Traditionally, house quality inspection is usually completed manually. Manual house quality inspection involves subjective judgment factors, which can easily lead to inaccurate inspection results. For example, long-term continuous work can cause fatigue, which affects the consistency and accuracy of the inspection. In addition, incorrect use of inspection tools can also lead to erroneous test results. In order to reduce labor costs and improve the efficiency and accuracy of inspections, the market now has corresponding automated building house quality inspection robots for inspection and acceptance at the completion stage of house construction.

[0003] Current research on building quality inspection robots often uses unmanned aerial vehicles (UAGs) and unmanned ground vehicles (UGVs). UAGs offer the advantage of being able to quickly and safely access difficult-to-reach locations like high-rise building facades and bridges. However, UAGs have the disadvantages of being less stable and having a limited number and variety of sensors. Consequently, captured images or videos may be noisier. In contrast, UGVs offer the advantages of lower power consumption and longer operating times. They can also carry heavier loads, have a low center of gravity, and are more stable. They can also carry a wider variety of sensors. However, the limited range of UGVs restricts the use of contact sensors for quality inspection of large structures. While sensors can be mounted high on a trolley for quality inspection of large structures, the use of larger and heavier sensors can cause the robot to wobble during movement due to the elevated center of mass. Furthermore, the higher mounting height limits the sensors' ability to measure quality beneath buildings. Therefore, robotic arms are often added to the chassis of UGVs to expand the inspection range of building quality inspection robots.

[0004] In order to meet the measurement needs of high and low spaces in building quality inspection and improve the application scope and effect of building quality inspection robots, the robotic arms on the market generally use 6-degree-of-freedom robotic arms with full rotation joints. They are very heavy. Installing them on the chassis of an unmanned vehicle will cause the center of gravity of the robot to move significantly upward, especially when the unmanned vehicle turns or stops suddenly, there is a risk of shaking or rolling over.

[0005] How to set up a building quality inspection robot to improve the stability and coordination of its movement while ensuring its detection range is the problem to be explored in this application. Utility Model Content

[0006] The purpose of this application is to provide a mobile building quality inspection robot to solve the problem that existing building quality inspection robots cannot simultaneously ensure detection range and movement stability.

[0007] To achieve the above objectives, the present invention provides a mobile building quality inspection robot, comprising:

[0008] Mobile robot body;

[0009] A robotic arm having a first joint, a second joint, a third joint, and a fourth joint, wherein one end of the first joint is rotatably disposed on the mobile robot body, one end of the second joint is disposed on a first drive end of the first joint, and the second joint is extendable relative to the first joint, one end of the third joint is disposed on a second drive end of the second joint and is rotatable relative to the second joint, and the fourth joint is disposed on a third drive end of the third joint and is rotatable relative to the third joint, wherein the size of the second joint is larger than the size of the first joint, the size of the third joint, and the size of the fourth joint;

[0010] a quality detection module, which is arranged on the fourth driving end of the fourth joint;

[0011] When the mobile robot body moves, the second joint is arranged parallel to the horizontal line.

[0012] According to the mobile construction quality inspection robot described above, the rotation angle of the first joint is the same as the rotation angle of the third joint, and the rotation direction of the first joint is opposite to the rotation direction of the third joint.

[0013] According to the mobile construction quality inspection robot described above, the mobile robot body includes:

[0014] Mobile chassis;

[0015] A mounting bracket is provided on the mobile chassis, and one end of the first joint of the robotic arm is rotatably provided on the mounting bracket;

[0016] A plurality of independently driven driving wheels are all arranged on the mobile chassis.

[0017] According to the mobile construction quality inspection robot described above, the driving wheel is configured as a hub motor, and the mobile construction quality inspection robot further comprises:

[0018] A chassis controller is connected to the plurality of driving wheels and is used to control the speed and steering of each of the driving wheels.

[0019] According to the mobile building quality inspection robot described above, a mounting plate is provided on the fourth driving end of the fourth joint, and the quality inspection module includes:

[0020] a thermal imaging camera disposed on one end of the lower surface of the mounting plate;

[0021] a first color camera, which is disposed on the other end of the lower surface of the mounting plate;

[0022] The structured light camera is arranged on the upper surface of the mounting plate.

[0023] According to the mobile construction quality inspection robot described above, the mobile construction quality inspection robot further includes:

[0024] An inspection and navigation module is provided on the mobile robot body;

[0025] The central control and analysis module is arranged on the middle part of the mobile chassis.

[0026] According to the mobile building quality inspection robot described above, the inspection navigation module includes:

[0027] a radar, which is arranged on the end surface of the mounting bracket facing away from the mobile chassis;

[0028] an inertial measurement unit, which is arranged on the mounting bracket and directly below the radar;

[0029] a second color camera disposed on a side of the mounting bracket located on the inertial measurement unit;

[0030] A main engine, which is arranged on the center line of the mobile chassis;

[0031] Two antennas are respectively arranged on both sides of the mobile chassis.

[0032] According to the mobile construction quality inspection robot described above, the antenna is configured as an RTK antenna, a connecting rod is provided on the mobile chassis, and the two antennas are respectively provided on both ends of the connecting rod.

[0033] According to the mobile construction quality inspection robot described above, the mobile construction quality inspection robot further includes:

[0034] A display is arranged on one side of the mobile chassis and connected to the central control and analysis module.

[0035] According to the mobile construction quality inspection robot described above, the mobile construction quality inspection robot further includes:

[0036] A power supply is provided on the mobile chassis and is located between the central control and analysis module and the display. The power supply is connected to the central control and analysis module and supplies power to the central control and analysis module.

[0037] The beneficial effects of the mobile building quality inspection robot provided by this application are at least:

[0038] It can be foreseen that in the present application, only the second joint is a telescopic joint, while the first joint, the third joint and the fourth joint are all rotational joints, and the size of the second joint is much larger than that of the first joint, the third joint and the fourth joint. When the robot moves, the second joint is arranged flat on the first joint, which can lower the center of gravity of the mobile building quality inspection robot, thereby improving the movement stability of the mobile building quality inspection robot. When the quality inspection module of the mobile building quality inspection robot needs to perform inspection work, by lifting the robotic arm (the first joint is rotated and lifted to make the second joint vertically set), the second joint is extended, so that the detection height of the quality inspection module in the mobile building quality inspection robot can be increased. That is to say, through the above setting, not only the movement stability of the mobile building quality inspection robot can be guaranteed, but also the detection range of the mobile building quality inspection robot can be guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0040] Figure 1 A schematic diagram of the three-dimensional structure of a mobile construction quality inspection robot from one angle is provided for an embodiment of the present application.

[0041] Figure 2 A schematic diagram of the three-dimensional structure of a mobile construction quality inspection robot from another angle is provided for an embodiment of the present application.

[0042] Figure 3 A schematic planar structural diagram of a mobile building quality inspection robot is provided for an embodiment of the present application.

[0043] Figure 4 A structural schematic diagram of a mobile building quality inspection robot with the mounting frame removed is provided for an embodiment of the present application.

[0044] Among them, the reference numerals in the figures are:

[0045] 1. Mobile robot body; 11. Mobile chassis; 12. Mounting bracket; 13. Driving wheel; 2. Robotic arm; 21. First joint; 22. Second joint; 23. Third joint; 24. Fourth joint; 3. Quality inspection module; 31. Thermal imaging camera; 32. First color camera; 33. Structured light camera; 41. Bracket; 42. Damping hinge assembly; 43. Mounting plate; 44. Connecting rod; 5. Inspection and navigation module; 51. Radar; 52. Second color camera; 53. Host; 54. Antenna; 6. Central control and analysis module; 7. Display; 8. Power supply; 9. Transformer; 10. Router. DETAILED DESCRIPTION

[0046] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0047] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be located directly or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limitations on this technical solution. The terms "first" and "second" are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0048] House quality inspection is an important task carried out after the completion of house construction. By inspecting the house quality, we can ensure that the house's structural safety and quality meet standards, and avoid subsequent problems and risks caused by houses with quality defects. Traditionally, house quality inspection is usually completed manually. Manual house quality inspection involves subjective judgment factors, which can easily lead to inaccurate inspection results. For example, long-term continuous work can cause fatigue, which affects the consistency and accuracy of the inspection. In addition, incorrect use of inspection tools can also lead to erroneous test results. In order to reduce labor costs and improve the efficiency and accuracy of inspections, the market now has corresponding automated building house quality inspection robots for inspection and acceptance at the completion stage of house construction.

[0049] Current research on building quality inspection robots often uses unmanned aerial vehicles (UAGs) and unmanned ground vehicles (UGVs). UAGs offer the advantage of being able to quickly and safely access difficult-to-reach locations like high-rise building facades and bridges. However, UAGs have the disadvantages of being less stable and having a limited number and variety of sensors. Consequently, captured images or videos may be noisier. In contrast, UGVs offer the advantages of lower power consumption and longer operating times. They can also carry heavier loads, have a low center of gravity, and are more stable. They can also carry a wider variety of sensors. However, the limited range of UGVs restricts the use of contact sensors for quality inspection of large structures. While sensors can be mounted high on a trolley for quality inspection of large structures, the use of larger and heavier sensors can cause the robot to wobble during movement due to the elevated center of mass. Furthermore, the higher mounting height limits the sensors' ability to measure quality beneath buildings. Therefore, robotic arms are often added to the chassis of UGVs to expand the inspection range of building quality inspection robots.

[0050] In order to meet the measurement needs of high and low spaces in building quality inspection and improve the application scope and effect of building quality inspection robots, the robotic arms on the market generally use 6-degree-of-freedom robotic arms with full rotation joints. They are very heavy. Installing them on the chassis of an unmanned vehicle will cause the center of gravity of the robot to move significantly upward, especially when the unmanned vehicle turns or stops suddenly, there is a risk of shaking or rolling over.

[0051] How to set up a building quality inspection robot to improve the stability and coordination of its movement while ensuring its detection range is the problem to be explored in this application.

[0052] For this purpose, see Figure 1 、 Figure 2 and Figure 3, this embodiment provides a mobile building quality inspection robot, including a mobile robot body 1, a robotic arm 2 and a quality inspection module 3, the robotic arm 2 has a first joint 21, a second joint 22, a third joint 23 and a fourth joint 24, one end of the first joint 21 is rotatably set on the mobile robot body 1, one end of the second joint 22 is set on the first driving end of the first joint 21, the second joint 22 can be extended and retracted relative to the first joint 21, one end of the third joint 23 is set on the second driving end of the second joint 22, and can rotate relative to the second joint 22, the fourth joint 24 is set on the third driving end of the third joint 23, and can rotate relative to the third joint 23, the quality inspection module 3 is set on the fourth driving end of the fourth joint 24, the size of the second joint 22 is larger than the size of the first joint 21, the size of the third joint 23 and the size of the fourth joint 24, when the mobile robot body 1 moves, the second joint 22 is set parallel to the horizontal line.

[0053] It can be foreseen that, among the above-mentioned, only the second joint 22 is a telescopic joint, while the first joint 21, the third joint 23 and the fourth joint 24 are all rotational joints, and the size of the second joint 22 is much larger than that of the first joint 21, the third joint 23 and the fourth joint 24. When the robot moves, the second joint 22 is arranged flat on the first joint 21, which can lower the center of gravity of the mobile building quality inspection robot, thereby improving the movement stability of the mobile building quality inspection robot. When the quality inspection module 3 of the mobile building quality inspection robot needs to perform inspection work, by lifting the mechanical arm 2 (the first joint 21 is rotated and lifted to make the second joint 22 vertically set), the second joint 22 is extended, so that the detection height of the quality inspection module 3 in the mobile building quality inspection robot can be increased. That is to say, through the above-mentioned setting, not only the movement stability of the mobile building quality inspection robot can be guaranteed, but also the detection range of the mobile building quality inspection robot can be guaranteed.

[0054] Optionally, in this embodiment, the first joint 21, the third joint 23 and the fourth joint 24 may all be motors, and the second joint 22 may be an electric telescopic rod.

[0055] Optional, see Figure 1 and Figure 2 In this embodiment, in order to improve the stability of the mobile construction quality inspection robot, two brackets 41 are provided on the mobile robot body 1 for fixing the second joint 22, one side of which is connected and fixed by the first joint 21 (ostrich), and the other side is connected and fixed by the damping hinge assembly 42, so that the weight of the second joint 22 can be better dispersed and the shaking can be reduced.

[0056] Optionally, in this embodiment, the rotation angle of the first joint 21 is the same as the rotation angle of the third joint 23, and the rotation direction of the first joint 21 is opposite to the rotation direction of the third joint 23, so that the quality inspection module 3 can perform inspection work in a horizontal state as much as possible.

[0057] Among them, the first joint 21 and the third joint 23 are used to control the pitch angle of the second joint 22, the second joint 22 uses an electric push rod to control the length of the second joint 22 to increase the height of the working space of the robotic arm 2, and the fourth joint 24 controls the yaw angle of the quality inspection module 3, so that the mobile construction quality inspection robot can detect the surrounding environment 360° at a single station, thereby increasing the detectable range of the robot at a single station and reducing the number of times the robot moves.

[0058] Optional, see Figure 3 In this embodiment, the mobile robot body 1 includes a mobile chassis 11, a mounting bracket 12 and a plurality of independently driven driving wheels 13. The mounting bracket 12 is arranged on the mobile chassis 11, and one end of the first joint 21 of the robotic arm 2 is rotatably arranged on the mounting bracket 12, and the plurality of driving wheels 13 are arranged on the mobile chassis 11.

[0059] Among them, see Figure 1 and Figure 2 In this embodiment, the driving wheel 13 can be a hub motor, and the mobile construction quality inspection robot also includes a chassis controller (not shown in the figure). The chassis controller is connected to several of the driving wheels 13 and is used to control the speed and direction of each of the driving wheels 13. The number of the driving wheels 13 can be set to four.

[0060] Optional, see Figure 2 and Figure 3 In this embodiment, the quality inspection module 3 includes a thermal imaging camera 31, a first color camera 32 and a structured light camera 33. A mounting plate 43 is provided on the fourth driving end of the fourth joint 24. The thermal imaging camera 31 and the first color camera 32 are respectively arranged on the two ends of the lower surface of the mounting plate 43, and the structured light camera 33 is arranged on the upper surface of the mounting plate 43.

[0061] Optional, see Figure 2 and Figure 4In this embodiment, the mobile construction quality inspection robot also includes a patrol navigation module 5 and a central control and analysis module 6. The patrol navigation module 5 is arranged on the mobile robot body 1, and the central control and analysis module 6 is arranged on the middle part of the mobile chassis 11. The patrol navigation module 5 and the central control and analysis module 6 can be independent of the quality inspection module 3 to perform construction monitoring tasks.

[0062] Among them, see Figure 2 、 Figure 3 and Figure 4 In this embodiment, the inspection and navigation module 5 also includes a radar 51, an inertial measurement unit (IMU), a second color camera 52, a host 53 and two antennas 54. The radar 51 is arranged on the end surface of the mounting bracket 12 away from the mobile chassis 11, which is equivalent to installing the radar 51 on the top of the mobile robot body 1 to minimize the obstruction of the radar 51 by the mobile robot body 1. The inertial measurement unit is arranged on the mounting bracket 12 directly below the radar 51. The second color camera 52 is arranged on the side of the mounting bracket 12 located on the inertial measurement unit. The host 53 is arranged on the center line of the mobile chassis 11 to minimize the error in coordinate transformation between the host 53 and the mobile building quality inspection robot. The two antennas 54 are respectively arranged on both sides of the mobile chassis 11.

[0063] The radar 51 may be a 3D laser radar, the host 53 may be an RTK host, and the two antennas 54 may both be RTK antennas.

[0064] Optional, see Figure 3 The two RTK antennas 54 need to be 1 meter apart and should not be illuminated by the second color camera 52. To meet this requirement, a 1-meter-long aluminum connecting rod 44 needs to be placed on the mobile chassis 11 to fix the two RTK antennas. In this embodiment, the two RTK antennas are respectively fixed on the two ends of the connecting rod 44. The height of the radar 51 of the inspection and navigation module 5 should be designed with reference to the position of the RTK antenna to ensure that the installation distance of the RTK line meets the requirements and that they are not interfered with by other equipment.

[0065] Optional, see Figure 4 In this embodiment, the mobile construction quality inspection robot also includes a display 7, which is arranged on one side of the mobile chassis 11 and is connected to the central control and analysis module 6. By setting up the display 7, this embodiment facilitates the staff to check the inspection results at any time.

[0066] Optional, see Figure 2 and Figure 4In this embodiment, the mobile construction quality inspection robot also includes a power supply 8, which is arranged on the mobile chassis 11 and located between the central control and analysis module 6 and the display 7. The power supply 8 is connected to the central control and analysis module 6 and supplies power to the central control and analysis module 6, wherein the power supply 8 can be a DC current power supply 8.

[0067] Optional, see Figure 4 In this embodiment, the mobile construction quality inspection robot further includes a transformer 9 , which is disposed on the mobile chassis 11 , and the power supply 8 supplies power to the central control and analysis module 6 through the transformer 9 .

[0068] Optional, see Figure 4 In this embodiment, the mobile construction quality inspection robot also includes a router 10, which is arranged on the other side of the mobile chassis 11. It can be foreseen that the router 10 and the display 7 are respectively located on both sides of the mobile chassis 11, and the router 10 is connected to the central control and analysis module 6.

[0069] In summary, the present application provides a mobile construction quality inspection robot, including a mobile robot body 1, a robotic arm 2 and a quality inspection module 3, the robotic arm 2 having a first joint 21, a second joint 22, a third joint 23 and a fourth joint 24, one end of the first joint 21 is rotatably set on the mobile robot body 1, one end of the second joint 22 is set on the first driving end of the first joint 21, the second joint 22 can be extended and retracted relative to the first joint 21, one end of the third joint 23 is set on the second driving end of the second joint 22, and can rotate relative to the second joint 22, the fourth joint 24 is set on the third driving end of the third joint 23, and can rotate relative to the third joint 23, the quality inspection module 3 is set on the fourth driving end of the fourth joint 24, the size of the second joint 22 is larger than the size of the first joint 21, the size of the third joint 23 and the size of the fourth joint 24, when the mobile robot body 1 moves, the second joint 22 is set parallel to the horizontal line. It can be foreseen that, among the above-mentioned, only the second joint 22 is a telescopic joint, while the first joint 21, the third joint 23 and the fourth joint 24 are all rotational joints, and the size of the second joint 22 is much larger than that of the first joint 21, the third joint 23 and the fourth joint 24. When the robot moves, the second joint 22 is arranged flat on the first joint 21, which can lower the center of gravity of the mobile building quality inspection robot, thereby improving the movement stability of the mobile building quality inspection robot. When the quality inspection module 3 of the mobile building quality inspection robot needs to perform inspection work, by lifting the mechanical arm 2 (the first joint 21 is rotated and lifted to make the second joint 22 vertically set), the second joint 22 is extended, so that the detection height of the quality inspection module 3 in the mobile building quality inspection robot can be increased. That is to say, through the above-mentioned setting, not only the movement stability of the mobile building quality inspection robot can be guaranteed, but also the detection range of the mobile building quality inspection robot can be guaranteed.

[0070] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A mobile building quality inspection robot, characterized in that: include: Mobile robot body; A robotic arm having a first joint, a second joint, a third joint, and a fourth joint, wherein one end of the first joint is rotatably disposed on the mobile robot body, one end of the second joint is disposed on a first drive end of the first joint, and the second joint is extendable relative to the first joint, one end of the third joint is disposed on a second drive end of the second joint and is rotatable relative to the second joint, and the fourth joint is disposed on a third drive end of the third joint and is rotatable relative to the third joint, wherein the size of the second joint is larger than the size of the first joint, the size of the third joint, and the size of the fourth joint; a quality detection module, which is arranged on the fourth driving end of the fourth joint; When the mobile robot body moves, the second joint is arranged parallel to the horizontal line.

2. The mobile building quality inspection robot according to claim 1, characterized in that: The rotation angle of the first joint is the same as the rotation angle of the third joint, and the rotation direction of the first joint is opposite to the rotation direction of the third joint.

3. The mobile building quality inspection robot according to claim 1, characterized in that: The mobile robot body comprises: Mobile chassis; A mounting bracket is provided on the mobile chassis, and one end of the first joint of the robotic arm is rotatably provided on the mounting bracket; A plurality of independently driven driving wheels are all arranged on the mobile chassis.

4. The mobile construction quality inspection robot according to claim 3, wherein the driving wheel is configured as a hub motor, characterized in that: The mobile building quality inspection robot also includes: A chassis controller is connected to the plurality of driving wheels and is used to control the speed and steering of each of the driving wheels.

5. The mobile construction quality inspection robot according to claim 1, wherein a mounting plate is provided on the fourth driving end of the fourth joint, wherein: The quality detection module includes: a thermal imaging camera disposed on one end of the lower surface of the mounting plate; a first color camera, which is disposed on the other end of the lower surface of the mounting plate; The structured light camera is arranged on the upper surface of the mounting plate.

6. The mobile building quality inspection robot according to claim 3, characterized in that: The mobile building quality inspection robot also includes: An inspection and navigation module is provided on the mobile robot body; The central control and analysis module is arranged on the middle part of the mobile chassis.

7. The mobile construction quality inspection robot according to claim 6, characterized in that: The inspection navigation module includes: a radar, which is arranged on the end surface of the mounting bracket facing away from the mobile chassis; an inertial measurement unit, which is arranged on the mounting bracket and directly below the radar; a second color camera disposed on a side of the mounting bracket located on the inertial measurement unit; A main engine, which is arranged on the center line of the mobile chassis; Two antennas are respectively arranged on both sides of the mobile chassis.

8. The mobile construction quality inspection robot according to claim 7, characterized in that: The antenna is configured as an RTK antenna, a connecting rod is provided on the mobile chassis, and the two antennas are respectively provided on both ends of the connecting rod.

9. The mobile construction quality inspection robot according to claim 6, characterized in that: The mobile building quality inspection robot also includes: A display is arranged on one side of the mobile chassis and connected to the central control and analysis module.

10. The mobile construction quality inspection robot according to claim 9, characterized in that: The mobile building quality inspection robot also includes: A power supply is provided on the mobile chassis and is located between the central control and analysis module and the display. The power supply is connected to the central control and analysis module and supplies power to the central control and analysis module.

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