Movable robot construction equipment based on fusion positioning system

Abstract

The utility model discloses a movable robot construction device based on a fusion positioning system. The movable robot construction device comprises a movable construction platform, a mechanical arm carried on the platform and a construction tool assembled at the tail end of the mechanical arm. The mobile construction platform is further provided with a UWB signal receiver and an IMU motion inertial sensor, and the UWB signal receiver and the IMU motion inertial sensor are used for achieving positioning and navigation of the mobile construction platform. The building tool comprises a clamping jaw assembly, a nail gun assembly and a visual assembly which are integrated, and the visual assembly is used for being matched with the clamping jaw assembly and the nail gun assembly to achieve automatic grabbing, transferring and fixing of building timber. By fusing an intelligent positioning system and an unmanned construction technology, the system can solve the problems of low efficiency, poor precision, insufficient safety and the like in traditional manual construction, has wide application prospects in the field of intelligent building construction, is particularly suitable for automatic construction of well dry type wood structures, and has wide application prospects. And the efficiency and quality of building construction can be remarkably improved, and intelligent development of the building industry is promoted.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of building construction and building equipment technology, especially to a movable robot construction equipment based on fusion positioning system. BACKGROUND

[0002] With the development of the construction industry towards intelligent, automated and unmanned direction, traditional construction methods are facing many challenges. Especially in the construction of timber-framed (timber-framed house form), the traditional construction method often relies on a large number of manual operations, with low construction efficiency and difficult to control precision, and complex building structures are difficult to achieve. This approach is not up to the task when dealing with personalized design and complex free-form structures. At the same time, the construction site environment is complex and variable, and the traditional manual construction method also faces many safety hazards. With the accumulation of existing technology, additive manufacturing technology, robotics and intelligent construction systems have begun to be gradually applied in the construction field.

[0003] Application of additive manufacturing technology: the construction industry has begun to draw on additive manufacturing technology (3D printing) in manufacturing, enabling rapid and accurate construction of complex building structures. Building 3D printing technology based on additive manufacturing can create different building components or complete structures through layer-by-layer manufacturing processes. This technology not only reduces construction waste, but also provides greater freedom in building design, allowing for more complex and innovative structural forms. With the development of materials science, 3D printing building materials have gradually expanded from concrete to sustainable ecological materials, further promoting the development of green buildings.

[0004] Building robot technology: In the field of building robots, industrial robots have gradually crossed over from manufacturing to the construction field, and are widely used for material handling, welding, bricklaying and 3D printing, etc. Intelligent robots are equipped with sensors, vision systems and artificial intelligence control systems, and can autonomously perceive and adjust the state during construction. The robot arm platform cooperates with the end execution tool to complete complex geometric construction tasks, including bending reinforcement, precise concrete pouring, laying building materials, etc.

[0005] Integration of intelligent construction systems: Intelligent construction systems have also gradually combined information technology (such as BIM, Internet of Things, machine learning) with the construction process. Through sensor networks, data collection and real-time feedback, building robots and automated equipment can more efficiently perform construction tasks. In particular, the combination of BIM technology and building robots can use three-dimensional models from the design stage to control construction machines, further shortening the design-to-construction process and improving production efficiency.

[0006] Although building automation technology is developing rapidly, there are still some problems and challenges in the application and promotion process:

[0007] Lack of flexibility and customization: Existing building automation systems are often designed to be specialized, optimized for specific construction tasks or specific materials, and lack the ability to handle complex and customized designs. Complex building structures and unique building requirements often require more flexibility, and existing systems are not sufficient in this regard.

[0008] Poor integration: The automation process of building design and construction has not yet formed a complete closed loop. Although technologies such as BIM can help improve the collaboration between design and construction, existing building robot equipment still faces challenges in integrating information flow and data flow. Design information is difficult to seamlessly convert into construction operations, resulting in low efficiency.

[0009] Construction efficiency and precision are difficult to balance, especially in the construction process, lacking precise real-time feedback and adjustment mechanisms.

[0010] Limited automation, unable to fully realize unmanned construction, still requiring manual intervention. Utility model content

[0011] To solve the above technical problems, the utility model provides a movable robot construction equipment based on a fusion positioning system, which aims to improve construction efficiency, ensure high-precision construction, and support free-form surface structure construction by introducing a fusion positioning system, a movable mechanical arm platform, a free-form surface design generation, and machine vision technology.

[0012] The technical scheme provided by the utility model is as follows:

[0013] A movable robot construction equipment based on a fusion positioning system, comprising a mobile construction platform and a mechanical arm mounted on the platform, and a construction tool mounted at the end of the mechanical arm; the mobile construction platform is also provided with a UWB signal receiver and an IMU motion inertia sensor for realizing the positioning and navigation of the mobile construction platform; the construction tool comprises an integrated jaw assembly, a nail gun assembly, and a vision assembly, and the vision assembly is used to cooperate with the jaw assembly and the nail gun assembly to realize automatic grabbing, transporting, and fixing of building lumber.

[0014] Further, the construction tool is assembled at the end of the mechanical arm through a connecting assembly, and the connecting assembly comprises a quick-change joint matched with the end of the mechanical arm, and the quick-change joint is fixedly connected with the construction tool through a flange adapter plate.

[0015] Further, the jaw assembly is used to grab building lumber, comprising a pneumatic jaw mounted on a jaw mounting structure and a jaw buffer; the nail gun assembly is used to spray screws to fix building lumber placed in a designated position, comprising a pneumatic screw gun fixed by a nail gun fixing kit and a nail gun cartridge magazine, and the trigger of the pneumatic screw gun is driven by a nail gun trigger control cylinder.

[0016] Further, the visual component is used to collect images to obtain real-time position information of the mechanical arm, and the visual component further comprises a two-dimensional code recognition module for recognizing a two-dimensional code label of the stacking area / wood.

[0017] Further, the mobile construction platform is further provided with a wood tray for temporarily storing building wood.

[0018] Preferably, a lifting platform for adjusting the height of the mechanical arm is further arranged between the mobile construction platform and the mechanical arm.

[0019] Preferably, the construction equipment is further configured with a PC client for real-time monitoring and control of the operation of the mechanical arm.

[0020] Compared with the prior art, the utility model at least has the following beneficial effects:

[0021] High-precision positioning and operation: the IMU / UWB fusion positioning system provides a centimeter-level positioning accuracy for the device, and combined with the end machine vision positioning system, a millimeter-level operation accuracy is realized. The high-precision positioning system guarantees the perfect connection and installation between each wood strip in the dry well type wood structure building process.

[0022] Strong adaptability: the tracked chassis design enables the device to adapt to various terrain conditions, especially in complex terrain or uneven construction sites, the stability and flexibility of the device are guaranteed. In addition, the system supports the generation and construction of free-form surface structures, and can adapt to personalized and complex building requirements.

[0023] Full automation construction: the entire construction process of the vertical dry well type wood structure realizes completely unmanned operation, significantly improves the construction efficiency, and reduces the labor cost. Especially in the construction of complex building structures, the system can ensure efficient and high-precision construction. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the utility model, and constitute a part of the specification, together with the embodiments of the utility model, for explaining the utility model, and do not constitute a limitation on the utility model.

[0025] Figure 1 is a mobile robot construction equipment structure schematic view provided by an embodiment of the utility model;

[0026] Figure 2 is a terminal construction tool structure schematic view provided by an embodiment of the utility model.

[0027] Among them, each figure mark represents:

[0028] 1-UWB signal receiver, 2-electrical assembly box, 3-control cabinet, 4-wood pallet, 5-scissor lift platform, 6-mobile construction platform, 7-robotic arm, 8-IMU motion inertial sensor, 9-end construction tool; 901-quick-change connector, 902-flange adapter plate, 903-nail gun fixing kit, 904-pneumatic screw gun, 905-clamp jaw mounting structure, 906-nail gun trigger control cylinder, 907-nail gun nail storage bin, 908-clamp jaw buffer assembly, 909-pneumatic clamp jaw, 910-trigger fixing assembly, 911-vision assembly. DETAILED DESCRIPTION

[0029] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0030] The present embodiment provides a movable robot construction equipment based on a fusion positioning system, as shown in the figure, the core component of the equipment is a movable construction platform 6 carrying a KUKA KR60 robotic arm 7, the platform chassis adopts a tracked design, which can adapt to complex terrain conditions and has good terrain passability, ensuring that the equipment can move flexibly in different construction scenes. Figure 1 The movable construction platform 6 is also provided with a UWB signal receiver 1 and an IMU motion inertial sensor 8, which provides high-precision positioning information of the equipment main body through the fusion positioning system combining IMU and UWB technology, ensuring that the construction platform can autonomously navigate to the construction site.

[0031] UWB technology is widely used in indoor positioning systems due to its centimeter-level positioning accuracy, but its performance in non-line-of-sight (NLOS) environments will be affected. The IMU sensor can provide real-time acceleration and angular velocity information to help correct errors in UWB positioning, thereby improving overall positioning accuracy.

[0032] The movable construction platform 6 is also provided with a wood pallet 4 for temporarily storing building wood to avoid frequent back-and-forth movement of the construction platform between the stacking area and the construction area, thereby improving construction efficiency. In addition, the movable construction platform 6 is also equipped with an electrical assembly box 2 and a control cabinet 3 for storing related circuit units and control modules of the construction equipment.

[0033] The robotic arm 7 is equipped with an end construction tool 9 through a connecting assembly, as shown in the figure. Figure 2As shown, the connecting assembly adopts a QC-G90 quick-change joint 901 matched with the end of the mechanical arm, one end of the quick-change joint is connected with the mechanical arm, and the other end is fixedly connected with the end construction tool 9 through a flange adapter plate 902.

[0034] The end construction tool 9 mainly includes a gripper assembly, a nail gun assembly and a vision assembly 911 integrated together. The vision assembly 911 calculates and obtains real-time position information of the mechanical arm by collecting real-time images, and can identify the two-dimensional code label of the stacking area / wood, to assist the gripper assembly and the nail gun assembly to realize automatic grabbing, transporting and fixing of the wood. Through the feedback of the vision assembly, the mechanical arm can adjust the action according to the construction demand, to realize unmanned well-dry type wood construction. The positioning process is managed by the KUKA mxAutomation system provided by the platform, which allows the construction personnel in the site to monitor and control the operation of the mechanical arm through the PC terminal client, to realize dynamic monitoring and command of the mechanical arm in the whole construction process.

[0035] Specifically, the gripper assembly mainly includes a pneumatic gripper 909 installed on a gripper mounting structure 905, and a gripper buffer assembly 908. The nail gun assembly is used for spraying screws to fix the wood placed in the specified position, and mainly includes a pneumatic screw gun 904 fixed by a nail gun fixing kit 903 and a nail gun storage magazine 907. The trigger of the pneumatic screw gun 904 is fixed by a trigger fixing assembly 910 and driven by a nail gun trigger control cylinder 906.

[0036] In some embodiments, in order to improve the flexibility of the movable robot construction equipment, make it suitable for construction tasks of different heights, and improve its working range, a scissor lifting platform 5 is further arranged between the movable construction platform 6 and the mechanical arm 7, for adjusting the overall height of the mechanical arm.

[0037] The overall working process of the above-mentioned robot mobile construction equipment is as follows:

[0038] 1. Equipment navigation and positioning

[0039] The movable platform is started, and the tracked chassis makes it move smoothly on complex terrain. Under the guidance of the IMU / UWB fusion positioning system, the equipment can autonomously navigate to the construction site. Through the centimeter-level positioning accuracy, the system ensures that the equipment moves accurately in the construction site and reaches the specified position.

[0040] 2. End positioning and wood strip identification

[0041] After arriving at the designated construction area, the AprilTag vision positioning system at the end of the robotic arm is activated, identifying the starting point of the construction and establishing the workspace coordinate system. In actual operation, due to the potential slight deviations in positioning accuracy of the platform navigation system, error correction using the vision component at the end of the robotic arm is required. The specific operation process is as follows: start the machine vision system at the end of the robotic arm, detect the AprilTag label on the wooden strip. This label is usually located at the starting position of the wooden component and above the last wooden strip. The system adjusts the installation position with millimeter-level precision based on the spatial position information of the label (including x, y, z coordinates and rotation angle). This process ensures that the installation position of each wooden strip strictly meets the design requirements. The QR code label is placed 5 cm below the starting wooden strip, parallel to the wooden strip's preset position, with its center collinear with the wooden strip's preset position center and perpendicular to the wooden strip's edge line. The positioning information is transmitted back to the PC terminal of the construction personnel in real time. This terminal is developed based on the Rhino / Grasshopper platform and combined with the KUKA PRC plug-in, allowing the construction personnel to monitor and control the robotic arm in real time.

[0042] 3. Wooden strip installation and lapping

[0043] The robotic arm grabs the wooden strip based on the data recognized by the QR code and installs it accurately at the designated position. Through the integrated nailing tool at the end, the wooden strip is fixed in place, ensuring the stability and precision of the lapping. This process is repeated until each layer of wooden strips of the well-dry wooden structure is constructed.

[0044] 4. Construction adjustment and real-time feedback

[0045] The entire construction process is monitored in real time by the Grasshopper platform, and users can view the construction progress and precision through the visual interface. When errors occur or adjustments are needed, the system can optimize the construction path and strategy in a timely manner based on feedback information.

[0046] 5. Fault detection and safety mechanism

[0047] The platform adds an automated fault detection function to ensure that construction is paused and an alarm is issued when equipment malfunctions occur, reminding construction personnel to handle them. In response to potential construction safety risks, infrared sensors or laser scanning devices are installed in key areas of the site to ensure that the system automatically shuts down when personnel enter the construction area, protecting the safety of construction personnel.

[0048] The utility model has wide application prospects in the field of intelligent building construction, especially for the automated construction of well-dry wooden structures. By integrating intelligent positioning systems, free-form surface generation, and unmanned construction technology, it can solve the problems of low efficiency, poor precision, and insufficient safety in traditional manual construction, and promote the building industry to a more efficient, safe, and intelligent direction.

[0049] The specific application scenarios of the utility model include:

[0050] Complex building structure construction: suitable for building projects with curved surface structure and personalized design requirements, providing high-precision free-form surface generation and automated construction solutions.

[0051] Unmanned construction: especially suitable for implementation in dangerous environments, complex terrains or labor shortage building projects, reducing labor demand and improving construction safety.

[0052] Building automation and intelligence: through the invention, the building industry can realize intelligent integrated process from design to construction, laying a technical foundation for future intelligent buildings.

[0053] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the utility model, but not to limit them; under the idea of the utility model, the technical features in the above examples or different examples can also be combined, and there are many other changes of different aspects of the utility model as described above, in order to be simple, they are not provided in details; although the utility model has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A mobile robotic construction equipment based on a fusion positioning system, characterized by, The mobile construction platform and the mechanical arm mounted on the platform, and the construction tool mounted at the end of the mechanical arm; the mobile construction platform is further provided with a UWB signal receiver and an IMU motion inertia sensor for realizing positioning and navigation of the mobile construction platform; the construction tool comprises an integrated jaw assembly, a nail gun assembly and a vision assembly, and the vision assembly is used for realizing automatic grabbing, transferring and fixing of building timber in cooperation with the jaw assembly and the nail gun assembly.

2. A mobile robotic construction equipment based on a fusion positioning system as claimed in claim 1, characterized in that, The construction tool is mounted at the end of the mechanical arm through a connecting assembly, and the connecting assembly comprises a quick-change joint matched with the end of the mechanical arm, and the quick-change joint is fixedly connected with the construction tool through a flange adapter plate.

3. A mobile robotic construction equipment based on a fusion positioning system as claimed in claim 1, characterized in that, The jaw assembly is used for grabbing building timber, and comprises a pneumatic jaw mounted on a jaw mounting structure and a jaw buffer; the nail gun assembly is used for spraying screws to fix the building timber placed at a specified position, and comprises a pneumatic screw gun fixed by a nail gun fixing sleeve and a nail gun nail storage bin, and a trigger of the pneumatic screw gun is driven by a nail gun trigger control cylinder.

4. A mobile robotic construction equipment based on a fusion positioning system as claimed in claim 1, characterized in that, The vision assembly is used for collecting images to obtain real-time position information of the mechanical arm, and further comprises a two-dimensional code identification module for identifying a two-dimensional code label of a stacking area / wood.

5. A mobile robotic construction equipment based on a fusion positioning system as claimed in claim 1, characterized in that, The mobile construction platform is further provided with a wood tray for temporarily storing building timber.

6. A mobile robotic construction equipment based on a fusion positioning system as claimed in claim 1, characterized in that, A lifting platform for adjusting the overall height of the mechanical arm is further arranged between the mobile construction platform and the mechanical arm.

7. A mobile robotic construction equipment based on a fusion positioning system as claimed in claim 1, characterized in that, The robot construction equipment is further provided with a PC client for monitoring and controlling operation of the mechanical arm in real time.

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