CN104850126B - Locating and detecting device and method in a kind of wall construction robot ambulation - Google Patents
Locating and detecting device and method in a kind of wall construction robot ambulation Download PDFInfo
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- CN104850126B CN104850126B CN201510284042.7A CN201510284042A CN104850126B CN 104850126 B CN104850126 B CN 104850126B CN 201510284042 A CN201510284042 A CN 201510284042A CN 104850126 B CN104850126 B CN 104850126B
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Abstract
The invention discloses locating and detecting device and method in wall construction robot ambulation, wall construction robot both sides are equipped with crawler unit, crawler unit connects motor, the chassis that crawler unit is supported is provided with the differential amplifying type position detecting device of laser pulse signal, the device is connected by signal processing circuit with signal detection microprocessor, signal detection microprocessor is connected with walking mechanism controller, walking mechanism controller is connected with driver, the running of driver motor；The front side of wall construction robot or rear side are provided with horizontal and vertical generating laser.Position signalling in the differential amplifying type position detecting device detection wall construction robot ambulation of laser pulse signal, controller ensure that it is walked and be accurately positioned according to guiding lasing area by the movable motor of driver control robot both sides；Simple in construction, walking and position fixing process fully achieve straight line guiding, and the speed of travel and location efficiency are higher.
Description
Technical field
The present invention relates to the building wall construction robot or other mobile devices that exact requirements are equipped with to sprocket bit, especially
It is related to a kind of differential amplifying type locating and detecting device of wall construction robot laser pulse signal and method.
Background technology
Building wall construction robot when carrying out building wall plastering construction, constantly to be moved in construction area and
Keep having certain accurate distance with metope of constructing, it is necessary to which the method and apparatus that a kind of active position detects ensure positioning accurate
Degree.Existing many methods measure the distance of walking, actual application by measuring the rotation of track drive motor in chassis
In larger measurement error can be brought due to the skidding in the difference and walking process of bilateral crawler belt.
The content of the invention
The purpose of the present invention is to overcome above-mentioned the deficiencies in the prior art, there is provided fixed in a kind of wall construction robot ambulation
Level detecting apparatus and method, using exterior laser source, the differential amplifying type method for detecting position of laser pulse signal and device and after
Continuous sampling processing circuit realizes that walking and fixed position are accurately positioned.
To achieve the above object, the present invention uses following technical proposals：
Locating and detecting device in a kind of wall construction robot ambulation, wall construction robot both sides are equipped with crawler belt
Running gear, crawler unit connection motor, the chassis that the crawler unit is supported is provided with laser pulse signal
Differential amplifying type position detecting device, the differential amplifying type position detecting device of laser pulse signal pass through signal processing circuit
Be connected with signal detection microprocessor, signal detection microprocessor is connected with walking mechanism controller, walking mechanism controller with
Driver connects, the running of driver motor；The front side of the wall construction robot or rear side are provided with horizontal and vertical sharp
Optical transmitting set, the light formation vertical reference face and level reference that the horizontal and vertical generating laser is sent, above-mentioned two
Individual reference plane workmen requires to carry out initial alignment according to Specific construction.
The differential amplifying type position detecting device of laser pulse signal is positioned only at wall construction robot crawler travel
The side on the chassis that device is supported.
Preferably, the chassis both sides that wall construction robot crawler unit is supported are equipped with laser pulse letter
Number differential amplifying type position detecting device.
The differential amplifying type position detecting device of laser pulse signal includes left light detection plate and right light detection plate,
There is certain gap, central point or datum mark of the gap as walking process, in wall among the light detection plate of two pieces of left and right
Before surface construction robot does not walk, workmen adjusts generating laser according to construction requirement so that the vertical reference face sent
For the plane of reference during wall construction robot ambulation, remained in walking process vertical reference face all the time with two blocks of light
The centre position of detection plate, which overlaps, is achieved that being accurately positioned in the construction of wall construction robot.At this moment reference laser face is all the time
The interstitial site being irradiated among the two pieces of light detection plates in left and right, all no voltage signal of two pieces of detection plates are sent.If walking
During deviate, the reference laser face laser that sends of irradiation deviates intermediate space position and is irradiated to the detection of left or right light
During plate, laser pulse is changed into voltage signal, the amplification of follow-up signal and place by the light detection plate by laser pulse irradiation
Reason circuit enters signal transacting microprocessor, left or right offset signal warp after the voltage signal is carried out into differential amplification and shaping
Cross isolation circuit and be sent to walking mechanism controller, walking mechanism controller controls driver regulation driving electricity according to above-mentioned signal
The machine speed of service, so as to drive crawler unit to carry out the adjustment of position in walking process, ensure set before constructing hang down
Straight centre position of the reference plane all the time with two pieces of light detection plates overlaps, so as to realize building wall construction robot and construction wall
Face is accurately positioned.
The signal detection microprocessor is single-chip microcomputer or embedded microprocessor.
Isolation circuit is connected between the signal detection microprocessor and walking mechanism controller.
The walking mechanism controller is PLC or MCU.
Position finding and detection method in a kind of wall construction robot ambulation, comprises the following steps：
(1) horizontal and vertical generating laser is placed in wall construction region, the horizontal and vertical generating laser is sent
Light form vertical reference face and level reference；
(2) the left light detection plate of the differential amplifying type light detection means of pulse and right light detection plate detection wall construction
Position signalling in robot ambulation, the position signalling detected is subjected to signal amplification by signal processing circuit and signal is whole
Signal detection microprocessor is transferred to after shape；
(3) position signalling is transferred to walking mechanism controller by signal detection microprocessor by isolation circuit, if row
Laser datum face is deviateed in gap during walking between left and right light detection plate, and walking mechanism controller is differential according to laser pulse
The position signalling situation control driver regulation motor speed of service that amplifying type position detecting device obtains, is carried out so as to drive
The adjustment of position in walking process is carried out to robot with running gear, realizes building wall construction robot and metope of constructing
It is accurately positioned.
Beneficial effects of the present invention are：
The present invention places generating laser in construction area, generates horizontal and vertical lasing area, and in wall construction machine
The differential amplifying type light detection means of laser pulse are installed in people both sides, detect position signalling in wall construction robot ambulation, control
Device processed ensures that it is walked and be accurately positioned according to guiding lasing area by the movable motor of driver control robot both sides；This
Inventive structure is simple, and walking and position fixing process fully achieve straight line guiding, and the speed of travel and location efficiency are higher.
Brief description of the drawings
Fig. 1 is wall construction robot pulse differential type position detecting device structural representation of the present invention；
In figure, 1 is horizontal and vertical generating laser, and 2 be vertical reference face, and 3 be level reference, and 4 be laser pulse
Differential amplifying type position detecting device, 5 be signal processing circuit, and 6 be signal detection microprocessor, and 7 be isolation circuit, and 8 be row
Mechanics controller is walked, 9 be left side drive, and 10 be left motor, and 11 be right driver, and 12 be right motor, and 13 be metope
Construction robot, 14 be crawler unit.
Embodiment
The present invention is further described with reference to the accompanying drawings and examples.
As shown in figure 1, the differential amplifying type locating and detecting device of wall construction robot pulse, constructed in construction area
The opening position of required distance places horizontal and vertical laser reflector 1 in journey, and the transmitter is formed vertically according to specific needs
Reference plane 2 and level reference 3.The both sides of wall construction robot 13 are equipped with crawler unit 14, left track walking dress
Put connection left motor 10, right side track running gear connection right motor 12, installed in wall construction robot crawler travel
The differential amplifying type light detection means 4 of pulse of the side or both sides on the chassis that device is supported, the device include left light
Detection plate and right light detection plate, pulse differential type light detection means 4 pass through signal processing circuit 5 and signal detection microprocessor
Device 6 is connected, and signal detection microprocessor 6 is connected by isolation circuit 7 with walking mechanism controller 8, walking mechanism controller 8 with
Left side drive 9 and right driver 11 connect, and left side drive 9 and right driver 11 drive left motor 10 and the right side respectively
Side motor 12 is run；Left light detection plate and right light detection plate are located at the both sides in vertical reference face 2 respectively.The micro- place of signal detection
Device 6 is managed as that can be the embedded microprocessors such as single-chip microcomputer or digital signal processor.Walking mechanism controller 8 can be compiled
Journey logical device (PLC) or microprocessor (MCU).
The differential amplifying type position finding and detection method of wall construction robot laser pulse, comprises the following steps：
(1) horizontal and vertical generating laser 1 is placed in wall construction region, the horizontal and vertical generating laser 1 is sent out
The light gone out forms vertical reference face 2 and level reference 3；
(2) the left light detection plate of the differential amplifying type position detecting device 4 of laser pulse and right light detection plate detection wall
Position signalling in surface construction robot ambulation, the position signalling detected is subjected to signal amplification by signal processing circuit 5
With signal detection microprocessor 6 is transferred to after signal shaping；
(3) position signalling is transferred to walking mechanism controller 8 by signal detection microprocessor 6 by isolation circuit 7, if
Laser datum face is deviateed in gap in walking process between left and right light detection plate, and walking mechanism controller 8 is according to laser pulse
The position signalling situation control left side drive 9 and the regulation of right driver 11 left side that differential amplifying type position detecting device obtains
Motor 10 and the speed of service of right motor 12, so as to drive crawler unit to carry out the adjustment of position, ensure wall construction machine
Device people's alignment fiducials faces, realize that building wall construction robot is accurately positioned with metope of constructing.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, model not is protected to the present invention
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deformation that creative work can make still within protection scope of the present invention.
Claims (4)
1. locating and detecting device in a kind of wall construction robot ambulation, it is characterized in that, wall construction robot both sides are equal
Provided with crawler unit, crawler unit connection motor, the chassis that the crawler unit is supported is provided with laser
The differential amplifying type position detecting device of pulse signal, the differential amplifying type position detecting device of laser pulse signal pass through signal
Process circuit is connected with signal detection microprocessor, and signal detection microprocessor is connected with walking mechanism controller, walking mechanism
Controller is connected with driver, the running of driver motor；The front side of the wall construction robot or rear side are provided with level
With vertical laser transmitter, the light that the horizontal and vertical generating laser is sent forms vertical reference face and horizontal reference
Face；
The differential amplifying type position detecting device of laser pulse signal includes left light detection plate and right light detection plate, left and right
There is gap, central point or datum mark of the gap as walking process among two pieces of light detection plates；If in walking process
Deviate, when the laser that the irradiation of reference laser face is sent deviates intermediate space position and is irradiated to left or right light detection plate,
Laser pulse is changed into voltage signal, the amplification of follow-up signal and process circuit by the light detection plate by laser pulse irradiation
Signal transacting microprocessor is entered after the voltage signal is carried out into differential amplification and shaping, left or right offset signal is by isolation
Circuit is sent to walking mechanism controller, and walking mechanism controller controls driver regulation motor to run according to above-mentioned signal
Speed, so as to drive crawler unit to carry out the adjustment of position in walking process, ensure vertical reference set before constructing
Centre position of the face all the time with two pieces of light detection plates overlaps, so as to realize the essence of building wall construction robot and metope of constructing
It is determined that position；
The differential amplifying type position detecting device of laser pulse signal is positioned only at wall construction robot crawler unit
The side on the chassis supported；
Isolation circuit is connected between the signal detection microprocessor and walking mechanism controller.
2. locating and detecting device in wall construction robot ambulation as claimed in claim 1, it is characterized in that, the signal detection
Microprocessor is single-chip microcomputer or embedded microprocessor.
3. locating and detecting device in wall construction robot ambulation as claimed in claim 1, it is characterized in that, the walking mechanism
Controller is PLC or MCU.
4. the detection method of locating and detecting device in wall construction robot ambulation as claimed in claim 1, it is characterized in that, bag
Include following steps：
（1）Horizontal and vertical generating laser, the light that the horizontal and vertical generating laser is sent are placed in wall construction region
Line forms vertical reference face and level reference；
（2）The left light detection plate of the differential amplifying type light detection means of pulse and right light detection plate detection wall construction machine
Position signalling in people's walking, by the position signalling detected after signal processing circuit carries out signal amplification and signal shaping
It is transferred to signal detection microprocessor；
（3）Position signalling is transferred to walking mechanism controller by signal detection microprocessor by isolation circuit, if walked
Laser datum face is deviateed in gap in journey between left and right light detection plate, and walking mechanism controller is according to the differential amplification of laser pulse
The position signalling situation control driver regulation motor speed of service that formula position detecting device obtains, so as to drive crawler belt row
Walking apparatus carries out the adjustment of position in walking process to robot, realizes building wall construction robot and the accurate of metope of constructing
Positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510284042.7A CN104850126B (en) | 2015-05-28 | 2015-05-28 | Locating and detecting device and method in a kind of wall construction robot ambulation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510284042.7A CN104850126B (en) | 2015-05-28 | 2015-05-28 | Locating and detecting device and method in a kind of wall construction robot ambulation |
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| Publication Number | Publication Date |
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| CN104850126A CN104850126A (en) | 2015-08-19 |
| CN104850126B true CN104850126B (en) | 2018-04-06 |
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| CN201510284042.7A Active CN104850126B (en) | 2015-05-28 | 2015-05-28 | Locating and detecting device and method in a kind of wall construction robot ambulation |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107329486A (en) * | 2017-08-11 | 2017-11-07 | 深圳班翟机器人有限公司 | Terrestrial positioning regulation device and method |
Citations (4)
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| CN202280240U (en) * | 2011-11-14 | 2012-06-20 | 蒋京德 | Construction robot for wall surface of building |
| CN102902273A (en) * | 2012-10-30 | 2013-01-30 | 东南大学 | Automatic deviation correction laser navigation system |
| CN104029207A (en) * | 2013-03-08 | 2014-09-10 | 科沃斯机器人科技(苏州)有限公司 | Laser-guided walking operation system for self-moving robot and control method for same |
| CN204759202U (en) * | 2015-05-28 | 2015-11-11 | 山东省科学院自动化研究所 | Location detection device in walking of wall construction robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0816237A (en) * | 1991-10-28 | 1996-01-19 | Shimizu Corp | Automatic operation system for robot |
| JPH08192096A (en) * | 1995-01-18 | 1996-07-30 | Sekisui Chem Co Ltd | Coating method and coating guide device used for the same |
| CN101096883A (en) * | 2006-06-29 | 2008-01-02 | 贺启宇 | Automatic plastering machine |
| FR3001298B1 (en) * | 2013-01-18 | 2016-05-27 | Archos | METHOD AND SYSTEM FOR PROVIDING A MOBILE DEVICE WITH INFORMATION ON ITS POSITION IN RELATION TO A TARGET, ROBOT INCORPORATING SUCH A SYSTEM AND TABLET |
| CN104563459B (en) * | 2014-12-25 | 2017-08-04 | 三一汽车制造有限公司 | A kind of plastering machine and its leveling method |
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2015
- 2015-05-28 CN CN201510284042.7A patent/CN104850126B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202280240U (en) * | 2011-11-14 | 2012-06-20 | 蒋京德 | Construction robot for wall surface of building |
| CN102902273A (en) * | 2012-10-30 | 2013-01-30 | 东南大学 | Automatic deviation correction laser navigation system |
| CN104029207A (en) * | 2013-03-08 | 2014-09-10 | 科沃斯机器人科技(苏州)有限公司 | Laser-guided walking operation system for self-moving robot and control method for same |
| CN204759202U (en) * | 2015-05-28 | 2015-11-11 | 山东省科学院自动化研究所 | Location detection device in walking of wall construction robot |
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