CN104831912A - Travelling guide device and method for building wall construction robot - Google Patents
Travelling guide device and method for building wall construction robot Download PDFInfo
- Publication number
- CN104831912A CN104831912A CN201510283273.6A CN201510283273A CN104831912A CN 104831912 A CN104831912 A CN 104831912A CN 201510283273 A CN201510283273 A CN 201510283273A CN 104831912 A CN104831912 A CN 104831912A
- Authority
- CN
- China
- Prior art keywords
- building wall
- wall construction
- construction robot
- optoelectronic switch
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a travelling guide device and method for a building wall construction robot. Crawler belt travelling devices are arranged on the two sides of the building wall construction robot, each crawler belt travelling device is connected with a motor, a chassis supported by the crawler belt travelling devices is provided with photoelectric switch combinations, the photoelectric switch combinations are connected with a controller, the controller is connected with drivers, and the drivers drive the motors to work. A horizontal and vertical laser transmitter is arranged in front of or behind the building wall construction robot during travelling. The laser transmitter is placed in a construction area and generates a horizontal laser plane and a vertical laser plane, the photoelectric switch combinations are installed on the two sides of the robot and detect position signals generated during travelling, the controller controls the travelling motors on the two sides of the robot through the drivers, and it is guaranteed that the robot travels according to a guide laser plane and is precisely positioned; the structure is simple, the travelling and positioning process is completely guided linearly, and the travelling speed and positioning efficiency are high.
Description
Technical field
The present invention relates to the mobile device needing sprocket bit to be equipped with to exact requirements, refer more particularly to a kind of building wall construction robot walking guiding device and method.
Background technology
Building wall construction robot when carrying out building wall plastering construction, constantly move in construction area and keeps and metope of constructing have certain accurate distance, need a kind of effective method and device to ensure positioning precision.Existing a lot of method measures the distance of walking, because the skidding in the difference of bilateral crawler belt and walking process can bring larger measure error in actual application by the rotation of measuring track drive motor in chassis.
Summary of the invention
The object of the invention is for overcoming above-mentioned the deficiencies in the prior art, a kind of building wall construction robot walking guiding device and method are provided, adopt exterior laser source, optoelectronic switch and sampling processing device to realize the accurate location of the walking of building wall construction robot and permanent position.
For achieving the above object, the present invention adopts following technical proposals:
A kind of building wall construction robot walking guiding device, building wall construction robot both sides are equipped with crawler unit, crawler unit connects motor, the chassis that described crawler unit supports is provided with optoelectronic switch combination, described optoelectronic switch combination is connected with controller, controller is connected with driver, and driver drives motor operates; Front or the rear of the walking of described building wall construction robot are provided with horizontal and vertical generating laser, and the light that described horizontal and vertical generating laser sends forms vertical reference face needed for wall construction and level reference.
Described optoelectronic switch combination is only arranged on the side on the chassis that building wall construction robot crawler unit supports.
Preferably, the both sides, chassis that the crawler unit of described building wall construction robot both sides supports are equipped with optoelectronic switch combination.
The combination of described optoelectronic switch comprises multiple optoelectronic switch, in construction robot walking process with one of them optoelectronic switch for reference center's point, all the other optoelectronic switches are along these central point both sides or evenly lay up and down.
Described controller is PLC or MCU.
A kind of building wall construction robot walking bootstrap technique, comprises the following steps:
(1) place horizontal and vertical generating laser at building wall construction area, the light that this horizontal and vertical generating laser sends forms vertical reference face and level reference;
(2) after vertical reference face is irradiated to the optoelectronic switch combination on building wall construction robot crawler unit, form the on-off model of building wall construction robot position, this on-off model is transferred to controller by optoelectronic switch combination;
(3) controller is according to the on-off model received, and compared with the on-off model of the optoelectronic switch position of central point, if depart from building wall construction robot walking process, controller control and drive system regulates the drive motors speed of service, thus drive crawler unit to carry out the adjustment of position in walking process, realize the accurate location of building wall construction robot and construction metope.
In described step (3) to building wall construction robot and the pinpoint concrete steps of construction metope be: before building wall construction robot is not walked, according to construction requirement adjustment horizontal and vertical generating laser, the vertical reference face sent is made to be the plane of reference in building wall construction robot walking process, when remaining in walking process that vertical reference face overlaps with the optoelectronic switch of the central point of setting, reference laser face is irradiated on reference light electric switch all the time, the detection signal of this optoelectronic switch outputs to controller, and controller is failure to actuate;
If departed from building wall construction robot walking process, vertical reference face irradiate the laser sent be irradiated to left side or right side optoelectronic switch time, left side or right side optoelectronic switch output detections signal are to controller, controller regulates the drive motors speed of service according to above-mentioned signal control and drive system, thus drive crawler unit to carry out the adjustment of position in walking process, vertical reference face set before ensureing construction overlaps with the optoelectronic switch position of central point all the time, thus realizes the accurate location of building wall construction robot and construction metope.
Beneficial effect of the present invention is:
The present invention adopts exterior laser source, optoelectronic switch and sampling processing device to realize the accurate location of walking and permanent position; Generating laser is placed at construction area, generate horizontal and vertical lasing area, and in robot both sides, optoelectronic switch combination is installed, detect walking meta confidence number, controller, by the movable motor of driver control robot both sides, ensures that it is according to guiding lasing area walking also accurate location; Structure of the present invention is simple, and walking and position fixing process realize straight line completely and guide, the speed of travel and location efficiency higher.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of building wall construction robot of the present invention walking guiding device;
In figure, 1 is horizontal and vertical generating laser, and 2 is vertical reference face, and 3 is level reference, 4 is optoelectronic switch combination, and 5 is controller, and 6 is left side drive, and 7 is left motor, 8 is right driver, and 9 is right motor, and 10 is building wall construction robot, and 11 is crawler unit.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further described.
As shown in Figure 1, building wall construction robot walking guiding device, requiring to place horizontal and vertical laser reflector 1 according to wall construction at construction area, this transmitter forms vertical reference face 2 and level reference 3 according to specific needs.Building wall construction robot 10 both sides are equipped with crawler unit 11, left track running gear connects left motor 7, right side track running gear connects right motor 9, the optoelectronic switch combination 4 be installed on building wall construction robot one or both sides crawler unit 11 forms the position signalling in building wall construction robot walking process, optoelectronic switch combination can adjust quantity as required in actual applications, can be such as 3, 4, the more formation permutation and combination such as 5, optoelectronic switch combination comprises multiple optoelectronic switch, point centered by certain optoelectronic switch in the middle of in the combination of definition optoelectronic switch, such as select point centered by B or C.Optoelectronic switch combination 4 is connected with controller 5, and controller 5 is connected with left side drive 6 and right driver 8, and left side drive 6 and right driver 8 drive left motor 7 and right motor 9 to operate respectively; Controller 5 can be PLD (PLC) or microprocessor (MCU).
Building wall construction robot walking bootstrap technique, comprises the following steps:
(1) place horizontal and vertical generating laser 1 at building wall construction area, the light that this horizontal and vertical generating laser 1 sends forms vertical reference face 2 and level reference 3;
(2) after vertical reference face 2 is irradiated to the optoelectronic switch combination 4 on building wall construction robot 10 crawler unit 11, form the on-off model of building wall construction robot 11 position, this on-off model is transferred to controller 5 by optoelectronic switch combination 4;
(3) before building wall construction robot is not walked, constructor adjusts generating laser according to construction requirement, the vertical reference face sent is made to be the plane of reference in wall construction robot ambulation process, remain in walking process vertical reference face all the time with setting optoelectronic switch combine in reference optoelectronic switch center superposition time, reference laser face is irradiated on reference light electric switch all the time, the detection signal of this optoelectronic switch outputs to follow-up controller, and controller is regarded as in walking and overlapped with reference position.
If departed from walking process, reference laser face irradiate the laser sent depart from reference position and be irradiated to left side or right side optoelectronic switch time, be subject to the left side of laser pulses irradiate or right side optoelectronic switch by output detections signal, left side or right side offset signal are input to controller, walking mechanism controller regulates the drive motors speed of service according to above-mentioned signal control and drive system, thus drive crawler unit to carry out the adjustment of position in walking process, vertical reference face set before ensureing construction combine with optoelectronic switch all the time in reference optoelectronic switch center superposition, thus realize the accurate location of building wall construction robot and construction metope.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.
Claims (7)
1. a building wall construction robot walking guiding device, building wall construction robot both sides are equipped with crawler unit, crawler unit connects motor, it is characterized in that, the chassis that described crawler unit supports is provided with optoelectronic switch combination, described optoelectronic switch combination is connected with controller, and controller is connected with driver, and driver drives motor operates; Front or the rear of the walking of described building wall construction robot are provided with horizontal and vertical generating laser, and the light that described horizontal and vertical generating laser sends forms vertical reference face needed for wall construction and level reference.
2. building wall construction robot walking guiding device as claimed in claim 1, it is characterized in that, described optoelectronic switch combination is only arranged on the side on the chassis that building wall construction robot crawler unit supports.
3. building wall construction robot walking guiding device as claimed in claim 1, is characterized in that, the both sides, chassis that the crawler unit of described building wall construction robot both sides supports are equipped with optoelectronic switch combination.
4. building wall construction robot walking guiding device as claimed in claim 1, it is characterized in that, described optoelectronic switch combination comprises multiple optoelectronic switch, in building wall construction robot walking process with one of them optoelectronic switch for reference center's point, all the other optoelectronic switches are along these central point both sides or evenly lay up and down.
5. building wall construction robot walking guiding device as claimed in claim 1, it is characterized in that, described controller is PLC or MCU.
6. a building wall construction robot walking bootstrap technique, is characterized in that, comprise the following steps:
(1) place horizontal and vertical generating laser at building wall construction area, the light that this horizontal and vertical generating laser sends forms vertical reference face and level reference;
(2) after vertical reference face is irradiated to the optoelectronic switch combination on building wall construction robot crawler unit, form the on-off model of building wall construction robot position, this on-off model is transferred to controller by optoelectronic switch combination;
(3) controller is according to the on-off model received, and compared with the on-off model of the optoelectronic switch position of central point, if depart from building wall construction robot walking process, controller control and drive system regulates the drive motors speed of service, thus drive crawler unit to carry out the adjustment of position in walking process, realize the accurate location of building wall construction robot and construction metope.
7. building wall construction robot walking bootstrap technique as claimed in claim 6, is characterized in that, in described step (3) to building wall construction robot and the pinpoint concrete steps of construction metope be:
Before building wall construction robot is not walked, according to construction requirement adjustment horizontal and vertical generating laser, the vertical reference face sent is made to be the plane of reference in building wall construction robot walking process, when remaining in walking process that vertical reference face overlaps with the optoelectronic switch of the central point of setting, reference laser face is irradiated on reference light electric switch all the time, the detection signal of this optoelectronic switch outputs to controller, and controller is failure to actuate;
If departed from building wall construction robot walking process, vertical reference face irradiate the laser sent be irradiated to left side or right side optoelectronic switch time, left side or right side optoelectronic switch output detections signal are to controller, controller regulates the drive motors speed of service according to above-mentioned signal control and drive system, thus drive crawler unit to carry out the adjustment of position in walking process, vertical reference face set before ensureing construction overlaps with the optoelectronic switch position of central point all the time, thus realizes the accurate location of building wall construction robot and construction metope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510283273.6A CN104831912B (en) | 2015-05-28 | 2015-05-28 | A kind of building wall construction robot walking guide and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510283273.6A CN104831912B (en) | 2015-05-28 | 2015-05-28 | A kind of building wall construction robot walking guide and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104831912A true CN104831912A (en) | 2015-08-12 |
| CN104831912B CN104831912B (en) | 2017-03-08 |
Family
ID=53810070
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510283273.6A Active CN104831912B (en) | 2015-05-28 | 2015-05-28 | A kind of building wall construction robot walking guide and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104831912B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105587107A (en) * | 2016-01-28 | 2016-05-18 | 长沙万工机器人科技有限公司 | Construction robot for fully automatic walling material |
| CN107327126A (en) * | 2017-08-11 | 2017-11-07 | 深圳班翟机器人有限公司 | Plaster robot |
| CN108518047A (en) * | 2018-05-21 | 2018-09-11 | 黄艳秋 | A kind of plastering machine for painting wall |
| CN109577616A (en) * | 2019-01-17 | 2019-04-05 | 深圳市森博机器人有限公司 | A kind of mechanical float auto-translating ambulation control method and the robot that plasters |
| CN111576803A (en) * | 2020-04-26 | 2020-08-25 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Wall surface construction robot and wall surface robot control method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110640735B (en) * | 2019-10-17 | 2021-05-11 | 广东博智林机器人有限公司 | Deviation rectifying method, deviation rectifying device and robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09210687A (en) * | 1996-01-31 | 1997-08-12 | Topcon Corp | Laser level |
| CN202280240U (en) * | 2011-11-14 | 2012-06-20 | 蒋京德 | Construction robot for wall surface of building |
| CN202324558U (en) * | 2011-11-14 | 2012-07-11 | 蒋京德 | Walking and turning device of building wall surface construction robot |
| CN103726645A (en) * | 2013-12-10 | 2014-04-16 | 沈阳市昂扬科技有限公司 | Special device for automatic spraying and whitewashing |
| CN104563459A (en) * | 2014-12-25 | 2015-04-29 | 三一汽车制造有限公司 | Wall plastering machine and leveling method thereof |
| CN104631804A (en) * | 2014-12-25 | 2015-05-20 | 三一汽车制造有限公司 | Wall plastering machine and leveling method thereof |
| CN204738511U (en) * | 2015-05-28 | 2015-11-04 | 山东省科学院自动化研究所 | Building wall construction walking guiding device of robot |
-
2015
- 2015-05-28 CN CN201510283273.6A patent/CN104831912B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09210687A (en) * | 1996-01-31 | 1997-08-12 | Topcon Corp | Laser level |
| CN202280240U (en) * | 2011-11-14 | 2012-06-20 | 蒋京德 | Construction robot for wall surface of building |
| CN202324558U (en) * | 2011-11-14 | 2012-07-11 | 蒋京德 | Walking and turning device of building wall surface construction robot |
| CN103726645A (en) * | 2013-12-10 | 2014-04-16 | 沈阳市昂扬科技有限公司 | Special device for automatic spraying and whitewashing |
| CN104563459A (en) * | 2014-12-25 | 2015-04-29 | 三一汽车制造有限公司 | Wall plastering machine and leveling method thereof |
| CN104631804A (en) * | 2014-12-25 | 2015-05-20 | 三一汽车制造有限公司 | Wall plastering machine and leveling method thereof |
| CN204738511U (en) * | 2015-05-28 | 2015-11-04 | 山东省科学院自动化研究所 | Building wall construction walking guiding device of robot |
Non-Patent Citations (1)
| Title |
|---|
| 潘海鹏,张益波: "《电气控制系统与S7-200系列PLC》", 31 January 2014 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105587107A (en) * | 2016-01-28 | 2016-05-18 | 长沙万工机器人科技有限公司 | Construction robot for fully automatic walling material |
| CN105587107B (en) * | 2016-01-28 | 2018-02-23 | 长沙万工机器人科技有限公司 | A kind of full automatic wall material construction robot |
| CN107327126A (en) * | 2017-08-11 | 2017-11-07 | 深圳班翟机器人有限公司 | Plaster robot |
| CN108518047A (en) * | 2018-05-21 | 2018-09-11 | 黄艳秋 | A kind of plastering machine for painting wall |
| CN109577616A (en) * | 2019-01-17 | 2019-04-05 | 深圳市森博机器人有限公司 | A kind of mechanical float auto-translating ambulation control method and the robot that plasters |
| CN111576803A (en) * | 2020-04-26 | 2020-08-25 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Wall surface construction robot and wall surface robot control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104831912B (en) | 2017-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104831912A (en) | Travelling guide device and method for building wall construction robot | |
| KR101870218B1 (en) | Position detection device, position detection method and moving body system | |
| CN106347331A (en) | Train jump control method, dynamic testing method and jump benchmark parking method under FAM (Full Automatic Mode) | |
| CN103777637A (en) | Non-baffle-board laser AGV and navigation method thereof | |
| MY192279A (en) | Method of controlling hybrid operation of trains having different formation lengths and communication-based train control system | |
| CN103759718B (en) | Rapid setting-out method of total station | |
| CN103235594B (en) | Computing method of traction position correction of traction control system | |
| CN103092206A (en) | Traversal path planning method of pipeline robot | |
| CN110751825A (en) | Method, device, equipment and computer readable storage medium for avoiding formation driving | |
| CN105619410A (en) | Transferring robot and automatic transferring system | |
| CN204738511U (en) | Building wall construction walking guiding device of robot | |
| CN208092543U (en) | A kind of AGV travelling bogies with magnetic guide | |
| CN101870433A (en) | Crane positioning device | |
| CN103076804A (en) | Automatic guide vehicle, automatic guide system and navigation method based on ultrasonic range finder | |
| CN104742991A (en) | Automatic control system for left and right tracks to travel synchronously | |
| CN104155980A (en) | Intelligent guiding book transporting trolley for library | |
| CN204759202U (en) | Location detection device in walking of wall construction robot | |
| CN105034011A (en) | Infrared guide system and method | |
| US20130269453A1 (en) | Method and system for determining structural changes in a longwall mine | |
| CN104850126A (en) | Device and method for locating and detecting wall construction robot during walking | |
| CN201737602U (en) | Crane positioner | |
| CN104210945B (en) | Crane artificial intelligence accurate positioning method | |
| CN206848817U (en) | Inertial guide car based on binocular stereo vision air navigation aid | |
| CN104656642B (en) | Traveling equipment for TOFD (time of flight diffraction) detection and use method | |
| CN204808593U (en) | Highway traffic jam warning system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20150812 Assignee: SHANDONG JUNDE ROBOT TECHNOLOGY CO., LTD. Assignor: Automation Inst., Shandong Prov. Contract record no.: X2019370000011 Denomination of invention: Travelling guide device and method for building wall construction robot Granted publication date: 20170308 License type: Common License Record date: 20191105 |
|
| EE01 | Entry into force of recordation of patent licensing contract |