CN107357294A - A kind of straight line wall of bricklaying robot builds algorithm by laying bricks or stones - Google Patents
A kind of straight line wall of bricklaying robot builds algorithm by laying bricks or stones Download PDFInfo
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- CN107357294A CN107357294A CN201710679426.8A CN201710679426A CN107357294A CN 107357294 A CN107357294 A CN 107357294A CN 201710679426 A CN201710679426 A CN 201710679426A CN 107357294 A CN107357294 A CN 107357294A
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- 239000011449 brick Substances 0.000 title claims abstract description 247
- 238000004364 calculation method Methods 0.000 claims abstract description 15
- 230000000875 corresponding effect Effects 0.000 claims abstract description 7
- 239000012634 fragment Substances 0.000 claims description 31
- 239000004570 mortar (masonry) Substances 0.000 claims description 3
- 230000001154 acute effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines
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Abstract
Algorithm is built by laying bricks or stones the invention discloses a kind of straight line wall of bricklaying robot, is comprised the following steps：A. the frame of reference is determined；B. the stance position of calculating robot；C. calculate and take brick position；D. the skin number of brick, the quantity of every skin brick and the center point coordinate of every piece of brick are calculated；E. build trajectory calculation by laying bricks or stones, action command is sent in programming Control system, it is performed corresponding action and carry out building by laying bricks or stones for straight line wall.The present invention, which specify that, takes brick position and bricklaying robot synchronizing moving, pass through the coordinate for building bricklaying robot stance coordinate, taking each block of wall brick of brick position coordinate and wall, so that brick folding, the position laid bricks are accurate, accurate calculation is realized, improves overall masonry quality and efficiency.
Description
Technical field
The present invention relates to field of artificial intelligence, and in particular to a kind of straight line wall of bricklaying robot builds calculation by laying bricks or stones
Method.
Background technology
Traditional artificial build by laying bricks or stones builds that building construction progress is slow, and labor intensity is big, and cost of labor more and more higher, with warp
The rapid growth of Ji and urbanization, increasing bricklaying robot are developed, and are manually built a wall to substitute, and are realized artificial
It is intelligent.
The patent of invention of Application No. 2016110695716 discloses a kind of light-duty, moveable bricklaying robot, such as schemes
Shown in 1, including the rotary mobile chassis 1 connect, lifting module 2, module of laying bricks 3 and programming Control system are sequentially connected, laid bricks
Module 3 includes mechanical arm 4 and fixture 5 of laying bricks, fixture 5 of laying bricks move in the stroke range of mechanical arm 4；Module of laying bricks 3 passes through
One screw mandrel realizes moving up and down in lifting module 2, and module of laying bricks 3 passes through rotary mobile chassis 1 to lift module 2 for axle
Realize circular motion.The bricklaying robot is simple in construction, but how by programmed algorithm to control its distribution to lay bricks, and realizes intelligence
Change is laid bricks most important, it is therefore necessary to which the algorithm control to its building process is further studied.
The content of the invention
Algorithm is built by laying bricks or stones it is an object of the invention to provide a kind of straight line wall of bricklaying robot, to realize straight line wall
Intellectuality build by laying bricks or stones.To achieve the above object, the present invention uses following technical scheme：
A kind of straight line wall of bricklaying robot builds algorithm by laying bricks or stones, and described bricklaying robot includes being sequentially connected the rotation connect
Rotatable mobile chassis, lift module, module of laying bricks and programming Control system, described module of laying bricks includes mechanical arm and folder of laying bricks
Tool, described fixture of laying bricks move in mechanical arm stroke range；The module of laying bricks is realized in lifting module by a screw mandrel
On move up and down, described module of laying bricks realizes circular motion as axle to lift module by rotary mobile chassis, including
Following steps：
A. the frame of reference is determined, is X-axis in center line to be built a wall, is Y-axis perpendicular to center line of wall, the height side of wall
To being origin for Z axis, wall side bottom X, Y, Z crosspoint；
B. the stance position of calculating robot, bricklaying robot is with along the front distance J of straight line wall center line straight line
Position is walking path；Several stance positions are calculated along walking path, bricklaying robot is using each stance position as a work
Position, it is determined that the coordinate position of each stance；
C. calculate and take brick position, fragment of brick is placed on to take and captured on brick position for bricklaying robot, takes brick position to be located at bricklaying robot
Fixture of laying bricks stroke range in, as bricklaying robot moves, corresponding one of each stance of bricklaying robot takes brick position,
It is determined that each take the coordinate position of brick position；
D. the skin number of brick, the quantity of every skin brick and the center point coordinate of every piece of brick are calculated；
E. build trajectory calculation by laying bricks or stones, calculate bricklaying robot in each stance from the brick folding of brick position is taken, block-by-block successively build by laying bricks or stones by fragment of brick
Action command；Action command is sent in programming Control system, it is performed the block that corresponding action carries out straight line wall
Build.
Further, bricklaying robot is built by laying bricks or stones since first stance position of the 1st skin wall in step e, until n-th
Individual stance terminates building by laying bricks or stones for the 1st skin wall, and then the 2nd skin wall is built by laying bricks or stones since n-th of stance, until the 1st stance knot
Building by laying bricks or stones for the skin wall of beam the 2nd, builds by laying bricks or stones back and forth repeatedly, until completing building by laying bricks or stones for whole wall.
Wherein, bricklaying robot calculates as follows along distance J in front of straight line wall in step b：
Wherein XC is the horizontal throw of fixture on the robotic arm of laying bricks, and A is safe distance, R
For rotary mobile chassis diameter, B is the thickness of fragment of brick.
Wherein, in step b, the coordinate position of first stance is (x1, J), the coordinate position of n-th of stance is (xn, J),
Wherein x1, xnCalculate as follows：
Wherein F is the length of fragment of brick；
The distance of adjacent stance isxn=x1+(n-1)Z(n≥2)。
Preferably, in step c, fixture of laying bricks is arranged on maximum stroke, and machine of laying bricks is positioned parallel to from any stance
The walking path direction back rotation sharp angle α angle of people is arranged to take brick position accordingly, i.e. the walking path of bricklaying robot is located at
Take between the mobile route of brick position and straight line wall, take brick position and the center of rotary machine people to keep fixed position relative, take brick
Coordinate position of the position at n-th of stance position of bricklaying robot is (xN takes, yN takes) (n >=1),
xnTake=cos α (XC-A)+xn,
ynTake=sin α (XC-A)+J.
Wherein, in step d brick total skin number PAlways, the quantity of brick is M ＇ on P skins, is calculated as follows,
PAlwaysRound numbers, H are the total height of straight line wall, and h is the height of fragment of brick, and r is the thickness of mortar joint；M
=L/ (F+r), L be straight line wall total length, F be monoblock fragment of brick length, FnFor the length of n-th piece of fragment of brick,
During △=0, when P is odd number, M ＇=M+1
During △=0, when P is even number, M ＇=M
Fn=F n=1,2 ... M
WhenWhen, when P is odd number, M ＇=M+1, FnCalculate as follows：
WhenWhen, when P is even number, M ＇=M+1, FnCalculate as follows：
WhenWhen, when P is odd number, M ＇=M+1, FnCalculate as follows：
WhenWhen, when P is even number, M ＇=M+1, FnCalculate as follows：
WhenWhen, when P is odd number, M ＇=M+1, FnCalculate as follows：
WhenWhen, when P is even number, M ＇=M+2, FnCalculate as follows：
Wherein：Coordinate (the x of the central point of n-th piece of brick on P skin wallsN bricks, 0, zN bricks), zN bricks=Ph-0.5h+ (P-1)
R,
As △=0, when P is odd number, xN bricksCalculate as follows：
As △=0, when P is even number, xN bricksCalculate as follows：
WhenWhen P is odd number, xN bricksCalculate as follows：
WhenWhen P is even number, xN bricksCalculate as follows：
WhenWhen P is odd number, xN bricksCalculate as follows：
WhenWhen P is even number, xN bricksCalculate as follows：
WhenWhen P is odd number, xN bricksCalculate as follows：
WhenWhen P is even number, xN bricksCalculate as follows：
Preferably, following action command is built in each stance position,
(1) bricklaying robots return initial position：Rotary mobile chassis is rotated to limit point, mould of being laid bricks in P skins
Block climb GC in lifting modulep, fixture of laying bricks returns back to parallel with walking path；
GCp=Ph-0.5h+ (P-1) r+K+A, wherein K are fixture height of laying bricks；
(2) brick folding, rotary mobile chassis rotation alpha angle, fixture of laying bricks is moved to range and is in takes brick position accordingly
Brick folding；
(3) lay bricks, rotation to fragment of brick coordinate points position is placed after fixture of laying bricks gripping fragment of brick.
As a result of above-mentioned structure, the present invention has the advantages that：The present invention builds unified coordinate system, leads to
The walking path for calculating bricklaying robot and the mobile route for taking brick position are crossed, specify that and take brick position is synchronous with bricklaying robot to move
It is dynamic, separate unit bricklaying robot is completed building by laying bricks or stones for straight line wall.By building bricklaying robot stance coordinate, taking brick position to sit
The coordinate of mark and each block of wall brick of wall so that brick folding, the position laid bricks are accurate, realize accurate calculation, improve overall block
Build efficiency.
Brief description of the drawings
Fig. 1 is the structural representation of bricklaying robot in background technology.
The schematic diagram of Fig. 2 present invention.
Straight line wall builds schematic diagram by laying bricks or stones when Fig. 3 is △=0.
Fig. 4 isWhen straight line wall build schematic diagram by laying bricks or stones.
Fig. 5 isWhen straight line wall build schematic diagram by laying bricks or stones.
Fig. 6 isWhen straight line wall build schematic diagram by laying bricks or stones.
Embodiment
In order that those skilled in the art more fully understands technical scheme, it is below in conjunction with the accompanying drawings and specific real
Applying example, the present invention is described in further detail.
Algorithm is built by laying bricks or stones the invention discloses a kind of straight line wall of bricklaying robot, as shown in figure 1, bricklaying robot
Structure is the structure in background technology, that is, includes being sequentially connected the rotary mobile chassis 1 connect, lifting module 2, module of laying bricks 3
With programming Control system, module of laying bricks 3 includes mechanical arm 4 and fixture 5 of laying bricks, and lays bricks fixture 5 in the stroke range of mechanical arm 4
It is mobile；Module of laying bricks 3 realizes moving up and down in lifting module 2 by a screw mandrel, and module of laying bricks 3 is to lift module 2 as axle
Circular motion is realized by rotary mobile chassis 1.
With reference to shown in Fig. 2~3, the algorithm of building by laying bricks or stones of the bricklaying robot comprises the following steps：
A. the frame of reference is determined, is X-axis in center line to be built a wall, is Y-axis perpendicular to center line of wall, the height side of wall
To being origin for Z axis, wall side bottom X, Y, Z crosspoint.As shown in Fig. 2 the center line of wall is located at thickness of wall body direction
Center, parallel to ground direction.Such as Fig. 3, Z-direction is the short transverse of wall.
B. the stance position of calculating robot, bricklaying robot is with along the front distance J of straight line wall center line straight line
Position is walking path；Several stance positions are calculated along walking path, bricklaying robot is using each stance position as a work
Position, it is determined that the coordinate position of each stance.
Bricklaying robot 1 calculates as follows along distance J in front of straight line wall：
Wherein XC is the horizontal throw of fixture on the robotic arm of laying bricks, and A is safe distance, and R is that rotary mobile chassis is straight
Footpath, B are the thickness of fragment of brick.Safe distance need to be determined in advance according to actual conditions, with the most flood for the fixture that makes to lay bricks as needed
There is certain distance in parallel journey and fixture of laying bricks, prevent lay bricks fixture and body peripheral collision to be built a wall in the extreme position of mechanical arm
Interference.
The coordinate position of first stance of bricklaying robot is (x1, J), the coordinate position of n-th of stance is (xn, J), phase
The distance of neighboring station appearance is Z, wherein x1, Z, xn2~formula 4 calculates as follows：
Wherein F is the length of fragment of brick.(formula 2)
xn=x1+(n-1)Z(n≥2).(formula 4)
C. calculate and take brick position, fragment of brick is placed on to take and captured on brick position for bricklaying robot, takes brick position to be located at bricklaying robot
Fixture of laying bricks stroke range in, as bricklaying robot moves, corresponding one of each stance of bricklaying robot takes brick position,
It is determined that each take the coordinate position of brick position.
The fixture that will be laid bricks in the present embodiment is arranged on maximum stroke, and bricklaying robot is positioned parallel to from any stance
Walking path direction back rotation sharp angle α angle is arranged to take brick position accordingly, i.e., the walking path of bricklaying robot, which is located at, takes brick
Between the mobile route and straight line wall of position, take brick position and the center of rotary machine people to keep fixed position relative, take brick position to exist
Coordinate position during n-th of stance position of bricklaying robot is (xN takes, yN takes)(n≥1)。
xN takes=cos α (XC-A)+xn, (formula 5)
yN takes=sin α (XC-A)+J.(formula 6)
D. the skin number of brick, the quantity of every skin brick and the center point coordinate of every piece of brick are calculated.
Total skin number P of brickAlways, the quantity of brick is M ＇ on P skins, 7 calculates total skin number as follows.
PAlwaysRound numbers, H are the total height of straight line wall, and h is the height of fragment of brick, and r is the thickness of mortar joint.
(formula 7)
If M be brick pre- quantitation, M=L/ (F+r), L be straight line wall total length, F be monoblock fragment of brick length, Fn
For the length of n-th piece of fragment of brick, the coordinate (x of the central point of n-th piece of brick on P skin wallsN bricks, 0, zN bricks), zN bricks=Ph-0.5h+
(P-1)r。
According to the form below calculates quantity the M ＇, the length F of n-th piece of fragment of brick of brickn, and the coordinate x of the central point of n-th piece of brickN bricks。
During △=0, masonry panel as shown in Figure 3, when P is odd number, i.e., the calculation formula on odd-level is as follows.Formula 8,10
Implication be：Fragment of brick on odd-level is arranged according to head and the tail bat, and centre is full sized brick.And the fragment of brick on even level is according to full sized brick
Built by laying bricks or stones to arrange.So that the fragment of brick of adjacent skin, in overlap joint I-shaped seam arrangement, meet wall builds requirement by laying bricks or stones.
P is even number, i.e., the calculation formula on even level is as follows.
Fn=F n=1,2 ... M (formula 10)
Masonry panel as shown in Figure 4, when P is odd number, i.e., the calculation formula on odd-level is as follows.
P is even number, i.e., the calculation formula on even level is as follows.
WhenMasonry panel as shown in Figure 5, when P is odd number, i.e., the calculation formula on odd-level is as follows.
When P is even number, i.e., the calculation formula on even level is as follows.
WhenMasonry panel as shown in Figure 6, when P is odd number, i.e., the calculation formula on odd-level is as follows.
When P is even number, i.e., the calculation formula on even level is as follows.
E. build trajectory calculation by laying bricks or stones, calculate bricklaying robot in each stance from the brick folding of brick position is taken, block-by-block successively build by laying bricks or stones by fragment of brick
Action command；Action command is sent in programming Control system, it is performed the block that corresponding action carries out straight line wall
Build.
Bricklaying robot is built by laying bricks or stones since first stance position of the 1st skin wall, until n-th of stance terminates the 1st skin
Wall is built by laying bricks or stones, and then the 2nd skin wall is built by laying bricks or stones since n-th of stance, until the 1st stance terminates the block of the 2nd skin wall
Build, build by laying bricks or stones back and forth repeatedly, until completing building by laying bricks or stones for whole wall.
Following action command is built in each stance position,
(1) bricklaying robots return initial position：Rotary mobile chassis is rotated to limit point, mould of being laid bricks in P skins
Block climb GC in lifting modulep(being calculated by formula 24), fixture of laying bricks returns back to parallel with walking path.
GCp=Ph-0.5h+ (P-1) r+K+A, wherein K are fixture height of laying bricks.(formula 24)
(2) brick folding, rotary mobile chassis rotation alpha angle, fixture of laying bricks is moved to range and is in takes brick position accordingly
Brick folding；
(3) lay bricks, rotation to fragment of brick coordinate points position is placed after fixture of laying bricks gripping fragment of brick.
To sum up, built a wall more than algorithm, each step is inputted into programming Control system by programming, to realize to brick-laying machine
The intelligentized control method built a wall of device people, realize precisely building by laying bricks or stones for straight line wall.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in,
It should all be included within the scope of the present invention.
Claims (8)
1. a kind of straight line wall of bricklaying robot builds algorithm by laying bricks or stones, described bricklaying robot includes being sequentially connected the rotation connect
Formula mobile chassis, lift module, module of laying bricks and programming Control system, described module of laying bricks includes mechanical arm and folder of laying bricks
Tool, described fixture of laying bricks move in mechanical arm stroke range；The module of laying bricks is realized in lifting module by a screw mandrel
On move up and down, described module of laying bricks realizes circular motion as axle to lift module by rotary mobile chassis, and it is special
Sign is, comprises the following steps：
A. the frame of reference is determined, is X-axis in center line to be built a wall, is Y-axis perpendicular to center line of wall, the short transverse of wall is
Z axis, wall side bottom X, Y, Z crosspoint are origin；
B. the stance position of calculating robot, bricklaying robot is with along the front distance J of straight line wall center line linear position
For walking path；Several stance positions are calculated along walking path, bricklaying robot is using each stance position as a station, really
The coordinate position of fixed each stance；
C. calculate and take brick position, fragment of brick is placed on to take and captured on brick position for bricklaying robot, takes brick position to be located at the block of bricklaying robot
In the stroke range of brick clamper, as bricklaying robot moves, corresponding one of each stance of bricklaying robot takes brick position, it is determined that
Each coordinate position for taking brick position；
D. the skin number of brick, the quantity of every skin brick and the center point coordinate of every piece of brick are calculated；
E. build trajectory calculation by laying bricks or stones, calculate bricklaying robot in each stance from taking the brick folding of brick position, block-by-block successively fragment of brick build by laying bricks or stones it is dynamic
Instruct；Action command is sent in programming Control system, it is performed corresponding action and carries out building by laying bricks or stones for straight line wall.
2. the straight line wall of bricklaying robot as claimed in claim 1 builds algorithm by laying bricks or stones, it is characterised in that：Laid bricks in step e
Robot is built by laying bricks or stones since first stance position of the 1st skin wall, until n-th of stance terminates building by laying bricks or stones for the 1st skin wall, so
The 2nd skin wall is built by laying bricks or stones since n-th of stance afterwards, until the 1st stance terminates building by laying bricks or stones for the 2nd skin wall, is built back and forth repeatedly
Build, until completing building by laying bricks or stones for whole wall.
3. the straight line wall of bricklaying robot as claimed in claim 1 or 2 builds algorithm by laying bricks or stones, it is characterised in that：Built in step b
Distance J is calculated as follows in front of brick Robot straight line wall：
Wherein XC is the horizontal throw of fixture on the robotic arm of laying bricks, and A is safe distance, and R is rotation
Rotatable mobile chassis diameter, B are the thickness of fragment of brick.
4. the straight line wall of bricklaying robot as claimed in claim 3 builds algorithm by laying bricks or stones, it is characterised in that：In step b, first
The coordinate position of individual stance is (x1, J), the coordinate position of n-th of stance is (xn, J), wherein x1, xnCalculate as follows：
Wherein F is the length of fragment of brick；
The distance of adjacent stance isxn=x1+(n-1)Z(n≥2)。
5. the straight line wall of bricklaying robot as claimed in claim 4 builds algorithm by laying bricks or stones, it is characterised in that：In step c, lay bricks
Fixture is arranged on maximum stroke, and the walking path direction back rotation acute angle of bricklaying robot is positioned parallel to from any stance
α angles are arranged to take brick position accordingly, i.e., the walking path of bricklaying robot be located at take the mobile route of brick position and straight line wall it
Between, take brick position and the center of rotary machine people to keep fixed position relative, take brick position in n-th of stance position of bricklaying robot
When coordinate position be (xN takes, yN takes) (n >=1),
xN takes=cos α (XC-A)+xn,
yN takes=sin α (XC-A)+J.
6. the straight line wall of bricklaying robot as claimed in claim 5 builds algorithm by laying bricks or stones, it is characterised in that：Brick in step d
Total skin number PAlways, the quantity of brick is M ＇ on P skins, is calculated as follows,
PAlwaysRound numbers, H are the total height of straight line wall, and h is the height of fragment of brick, and r is the thickness of mortar joint；M=L/ (F
+ r), M round numbers, the value after decimal point is △, and L is the total length of straight line wall, and F is the length of monoblock fragment of brick, FnFor n-th piece
The length of fragment of brick；
During △=0, when P is odd number, M ＇=M+1
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</mtr>
<mtr>
<mtd>
<mrow>
<mo>(</mo>
<mi>&Delta;</mi>
<mi>F</mi>
<mo>+</mo>
<mi>F</mi>
<mo>)</mo>
<mfrac>
<mn>1</mn>
<mn>3</mn>
</mfrac>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>n</mi>
<mo>=</mo>
<mi>M</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>;</mo>
</mrow>
WhenWhen, when P is odd number, M ＇=M+1, FnCalculate as follows：
<mrow>
<msub>
<mi>F</mi>
<mi>n</mi>
</msub>
<mo>=</mo>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>&Delta;</mi>
<mi>F</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>n</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>F</mi>
</mtd>
<mtd>
<mrow>
<mi>n</mi>
<mo>=</mo>
<mn>2</mn>
<mo>,</mo>
<mn>3</mn>
<mo>,</mo>
<mn>4......</mn>
<mrow>
<mo>(</mo>
<mi>M</mi>
<mo>+</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>;</mo>
</mrow>
WhenWhen, when P is even number, M ＇=M+1, FnCalculate as follows：
<mrow>
<msub>
<mi>F</mi>
<mi>n</mi>
</msub>
<mo>=</mo>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mi>F</mi>
</mtd>
<mtd>
<mrow>
<mi>n</mi>
<mo>=</mo>
<mn>1</mn>
<mo>,</mo>
<mn>2......</mn>
<mi>M</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>&Delta;</mi>
<mi>F</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>n</mi>
<mo>=</mo>
<mi>M</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>;</mo>
</mrow>
WhenWhen, when P is odd number, M ＇=M+1, FnCalculate as follows：
<mrow>
<msub>
<mi>F</mi>
<mi>n</mi>
</msub>
<mo>=</mo>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>&Delta;</mi>
<mi>F</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>n</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>F</mi>
</mtd>
<mtd>
<mrow>
<mi>n</mi>
<mo>=</mo>
<mn>2</mn>
<mo>,</mo>
<mn>3</mn>
<mo>,</mo>
<mn>4......</mn>
<mrow>
<mo>(</mo>
<mi>M</mi>
<mo>+</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>;</mo>
</mrow>
WhenWhen, when P is even number, M ＇=M+2, FnCalculate as follows：
<mrow>
<msub>
<mi>F</mi>
<mi>n</mi>
</msub>
<mo>=</mo>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
<mi>&Delta;</mi>
<mi>F</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>n</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>F</mi>
</mtd>
<mtd>
<mrow>
<mi>n</mi>
<mo>=</mo>
<mn>2</mn>
<mo>,</mo>
<mn>3</mn>
<mo>,</mo>
<mn>4......</mn>
<mrow>
<mo>(</mo>
<mi>M</mi>
<mo>+</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
<mi>&Delta;</mi>
<mi>F</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>n</mi>
<mo>=</mo>
<mi>M</mi>
<mo>+</mo>
<mn>2</mn>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>.</mo>
</mrow>
7. the straight line wall of bricklaying robot as claimed in claim 6 builds algorithm by laying bricks or stones, it is characterised in that：In P skin walls
Coordinate (the x of the central point of upper n-th piece of brickN bricks, 0, zN bricks), zN bricks=Ph-0.5h+ (P-1) r,
As △=0, when P is odd number, xN bricksCalculate as follows：
As △=0, when P is even number, xN bricksCalculate as follows：
WhenWhen P is odd number, xN bricksCalculate as follows：
WhenWhen P is even number, xN bricksCalculate as follows：
WhenWhen P is odd number, xN bricksCalculate as follows：
WhenWhen P is even number, xN bricksCalculate as follows：
WhenWhen P is odd number, xN bricksCalculate as follows：
WhenWhen P is even number, xN bricksCalculate as follows：
8. the straight line wall of bricklaying robot as claimed in claim 7 builds algorithm by laying bricks or stones, it is characterised in that：In each stance
Position builds following action command,
(1) bricklaying robots return initial position：Rotary mobile chassis is rotated to limit point, and module of being laid bricks in P skins exists
Lift climb GC in modulep, fixture of laying bricks returns back to parallel with walking path；
GCp=Ph-0.5h+ (P-1) r+K+A, wherein K are fixture height of laying bricks；
(2) brick folding, rotary mobile chassis rotation alpha angle, fixture of laying bricks is moved to range and is in takes the brick folding of brick position accordingly；
(3) lay bricks, rotation to fragment of brick coordinate points position is placed after fixture of laying bricks gripping fragment of brick.
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| CN201710679426.8A CN107357294B (en) | 2017-08-10 | 2017-08-10 | Masonry algorithm of linear wall of brick laying robot |
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| CN111350361A (en) * | 2020-03-16 | 2020-06-30 | 广东博智林机器人有限公司 | Masonry method, masonry system and masonry robot |
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| CN112922366A (en) * | 2019-12-05 | 2021-06-08 | 厦门华蔚物联网科技有限公司 | Automatic deviation rectifying system and method for wall brick plane |
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