CN107357294B - Masonry algorithm of linear wall of brick laying robot - Google Patents

Masonry algorithm of linear wall of brick laying robot Download PDF

Info

Publication number
CN107357294B
CN107357294B CN201710679426.8A CN201710679426A CN107357294B CN 107357294 B CN107357294 B CN 107357294B CN 201710679426 A CN201710679426 A CN 201710679426A CN 107357294 B CN107357294 B CN 107357294B
Authority
CN
China
Prior art keywords
brick
bricks
wall
robot
following formula
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.)
Active
Application number
CN201710679426.8A
Other languages
Chinese (zh)
Other versions
CN107357294A (en
Inventor
刘昌臻
陈思鑫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huaway IoT Technology Co Ltd
Original Assignee
Huaway IoT Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Huaway IoT Technology Co Ltd filed Critical Huaway IoT Technology Co Ltd
Priority to CN201710679426.8A priority Critical patent/CN107357294B/en
Publication of CN107357294A publication Critical patent/CN107357294A/en
Application granted granted Critical
Publication of CN107357294B publication Critical patent/CN107357294B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)

Abstract

The invention discloses a masonry algorithm of a linear wall of a brick-laying robot, which comprises the following steps: a. determining a reference coordinate system; b. calculating the standing position of the robot; c. calculating a brick taking position; d. calculating the number of bricks, the number of each brick and the central point coordinate of each brick; e. and (4) building track calculation, namely sending the action instruction to a program control system to enable the program control system to execute corresponding action to build the linear wall. The invention defines that the brick taking position and the brick laying robot move synchronously, and the positions of brick clamping and brick laying are accurate by constructing the standing position coordinate, the brick taking position coordinate and the coordinate of each wall brick of the wall body, thereby realizing accurate calculation and improving the integral building quality and efficiency.

Description

Masonry algorithm of linear wall of brick laying robot
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a masonry algorithm of a linear wall of a brick laying robot.
Background
Traditional manual masonry building construction progress is slow, and intensity of labour is big, and the cost of labor is more and more high, along with economic quick increase and urbanization, more and more bricklaying robots are developed for replace artifical wall building, realize artificial intelligence.
The invention patent with application number 2016110695716 discloses a light and movable brick laying robot, which comprises a rotary movable chassis 1, a lifting module 2, a brick laying module 3 and a programming control system which are sequentially connected, wherein the brick laying module 3 comprises a mechanical arm 4 and a brick laying clamp 5, and the brick laying clamp 5 moves in the stroke range of the mechanical arm 4; the module of laying bricks 3 realizes reciprocating on lifting module 2 through a lead screw, and the module of laying bricks 3 uses lifting module 2 to realize circular motion through rotation type removal chassis 1 as the axle. The brick laying robot is simple in structure, but how to control distributed brick laying through a programming algorithm is very important to realize intelligent brick laying, so that the algorithm control of the brick laying process needs to be further researched.
Disclosure of Invention
The invention aims to provide a masonry algorithm of a linear wall of a brick-laying robot so as to realize intelligent masonry of the linear wall. In order to achieve the purpose, the invention adopts the following technical scheme:
a bricklaying robot comprises a rotary moving chassis, a lifting module, a bricklaying module and a programming control system which are sequentially connected, wherein the bricklaying module comprises a mechanical arm and a bricklaying clamp, and the bricklaying clamp moves within the stroke range of the mechanical arm; the module of laying bricks realizes reciprocating on lifting module through a lead screw, the module of laying bricks use lifting module to realize circular motion through rotation type removal chassis as the axle, including following step:
a. determining a reference coordinate system, wherein the central line of the wall to be built is an X axis, the central line vertical to the wall is a Y axis, the height direction of the wall is a Z axis, and the intersection point of the bottom end X, Y, Z at one side of the wall is an original point;
b. calculating the standing position of the robot, wherein the brick laying robot takes the linear position of the distance J in front of the central line of the linear wall as a walking path; calculating a plurality of standing position positions along the walking path, and determining the coordinate position of each standing position by taking each standing position as a station by the brick laying robot;
c. calculating a brick taking position, placing bricks on the brick taking position for a brick laying robot to grasp, wherein the brick taking position is located in the stroke range of a brick laying clamp of the brick laying robot, each station posture of the brick laying robot corresponds to one brick taking position along with the movement of the brick laying robot, and the coordinate position of each brick taking position is determined;
d. calculating the number of bricks, the number of each brick and the central point coordinate of each brick;
e. calculating a building track, namely calculating an action instruction of clamping bricks from a brick taking position and building bricks layer by layer one by a brick building robot in each standing posture; and sending the action instruction to a programming control system to enable the programming control system to execute corresponding actions to build the linear wall.
And furthermore, in the step e, the brick laying robot starts laying from the first standing position of the 1 st wall body until the nth standing position finishes laying the 1 st wall body, then starts laying the 2 nd wall body from the nth standing position until the 1 st standing position finishes laying the 2 nd wall body, and repeatedly carries out back and forth laying until the laying of the whole wall body is finished.
And c, calculating the distance J of the brick laying robot in the step b along the front of the linear wall according to the following formula:
Figure BDA0001375097300000021
wherein XC is the horizontal stroke of the anchor clamps of laying bricks on the arm of machinery, and A is safe distance, and R is rotation type removal chassis diameter, and B is the thickness of fragment of brick.
In the step b, the coordinate position of the first standing position is (x)1J), the coordinate position of the nth standing position is (x)nJ), wherein x1，xnCalculated according to the following formula:
Figure BDA0001375097300000022
wherein F is the length of the brick;
the distance between adjacent standing postures is
Figure BDA0001375097300000023
xn＝x1+(n-1)Z(n≥2)。
Preferably, in the step c, the brick laying clamp is arranged at the maximum stroke, an acute angle α of backward rotation is set from any standing position to be parallel to the walking path direction of the brick laying robot to be a corresponding brick taking position, namely, the walking path of the brick laying robot is positioned between the moving path of the brick taking position and a linear wall body, the brick taking position and the center of the rotary robot keep a relatively fixed position, and the coordinate position of the brick taking position in the nth standing position of the brick laying robot is (x)n is taken，yn is taken)(n≥1)，
xnGet cos α (XC-A) + xn，
ynGet sin α (XC-A) + J.
Wherein, the total number P of the bricks in the step dGeneral assemblyThe number of bricks on the No. P skin is M', calculated according to the following formula,
Figure BDA0001375097300000024
Pgeneral assemblyTaking an integer, wherein H is the total height of the linear wall, H is the height of the brick, and r is the thickness of the mortar joint; l/, (M ═ L)F + r), L is the total length of the linear wall, F is the length of the whole brick, FnIs the length of the nth block,
when △ is equal to 0 and P is odd, M' is equal to M +1
Figure BDA0001375097300000025
When △ is equal to 0, and P is even, M' is equal to M
Fn＝F n＝1，2，......M
When in use
Figure BDA0001375097300000031
When P is odd, M ═ M +1, FnCalculated according to the following formula:
Figure BDA0001375097300000032
when in use
Figure BDA0001375097300000033
When P is even, M ═ M +1, FnCalculated according to the following formula:
Figure BDA0001375097300000034
when in use
Figure BDA0001375097300000035
When P is odd, M ═ M +1, FnCalculated according to the following formula:
Figure BDA0001375097300000036
when in use
Figure BDA0001375097300000037
When P is even, M ═ M +1, FnCalculated according to the following formula:
Figure BDA0001375097300000038
when in use
Figure BDA0001375097300000039
When P is odd, M ═ M +1, FnCalculated according to the following formula:
Figure BDA00013750973000000310
when in use
Figure BDA00013750973000000311
When P is even, M ═ M +2, FnCalculated according to the following formula:
Figure BDA00013750973000000312
wherein: coordinate (x) of the center point of the nth brick on the pth walln bricks，0，zn bricks)，zn bricks＝Ph-0.5h+(P-1)r，
When △ is 0, P is odd, xn bricksCalculated according to the following formula:
Figure BDA0001375097300000041
when △ is 0, P is even, xn bricksCalculated according to the following formula:
Figure BDA0001375097300000042
when in use
Figure BDA0001375097300000043
When P is an odd number, xn bricksCalculated according to the following formula:
Figure BDA0001375097300000044
when in use
Figure BDA0001375097300000045
When P is an even number, xn bricksCalculated according to the following formula:
Figure BDA0001375097300000046
when in use
Figure BDA0001375097300000047
When P is an odd number, xn bricksCalculated according to the following formula:
Figure BDA0001375097300000048
when in use
Figure BDA0001375097300000049
When P is an even number, xn bricksCalculated according to the following formula:
Figure BDA0001375097300000051
when in use
Figure BDA0001375097300000052
When P is an odd number, xn bricksCalculated according to the following formula:
Figure BDA0001375097300000053
when in use
Figure BDA0001375097300000054
When P is an even number, xn bricksCalculated according to the following formula:
Figure BDA0001375097300000055
preferably, the following action instructions are constructed at each stance location,
(1) the bricklaying robot returns to the initial position: the rotary movable chassis rotates to a limit point, and the rising distance GC of the brick laying module on the lifting module at the No. P leatherpThe bricklaying fixture rotates to be parallel to the walking path;
GCpph-0.5h + (P-1) r + K + A, wherein K is the height of the brick laying clamp;
(2) clamping bricks, rotating the rotary moving chassis for α degrees, and clamping the bricks at the corresponding brick taking positions when the brick laying clamp moves to the maximum stroke;
(3) and (5) laying bricks, wherein the brick laying clamp clamps the bricks and then rotates to the coordinate point position of the bricks to place.
Due to the adoption of the structure, the invention has the following beneficial effects: the invention constructs a unified coordinate system, and defines the synchronous movement of the brick taking position and the brick laying robot by calculating the walking path of the brick laying robot and the moving path of the brick taking position, so that a single brick laying robot can complete the laying of a linear wall body. Through constructing the standing position coordinate of the brick laying robot, the brick taking position coordinate and the coordinate of each wall brick of the wall body, the positions of brick clamping and brick laying are accurate, accurate calculation is realized, and the overall brick laying efficiency is improved.
Drawings
Fig. 1 is a schematic structural diagram of a brick laying robot in the background art.
FIG. 2 is a schematic of the present invention.
Fig. 3 is a schematic diagram of the masonry of a straight wall when △ is 0.
FIG. 4 is
Figure BDA0001375097300000061
And (5) a masonry schematic diagram of a time-line wall body.
FIG. 5 is
Figure BDA0001375097300000062
And (5) a masonry schematic diagram of a time-line wall body.
FIG. 6 is
Figure BDA0001375097300000063
And (5) a masonry schematic diagram of a time-line wall body.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The invention discloses a masonry algorithm of a linear wall of a brick laying robot, as shown in figure 1, the brick laying robot is a structure in the background technology, namely comprises a rotary moving chassis 1, a lifting module 2, a brick laying module 3 and a programming control system which are sequentially connected, wherein the brick laying module 3 comprises a mechanical arm 4 and a brick laying clamp 5, and the brick laying clamp 5 moves within the stroke range of the mechanical arm 4; the module of laying bricks 3 realizes reciprocating on lifting module 2 through a lead screw, and the module of laying bricks 3 uses lifting module 2 to realize circular motion through rotation type removal chassis 1 as the axle.
With reference to fig. 2 to 3, the masonry algorithm of the brick laying robot comprises the following steps:
a. and determining a reference coordinate system, wherein the central line of the wall to be built is an X axis, the central line vertical to the wall is a Y axis, the height direction of the wall is a Z axis, and the intersection point of the bottom end X, Y, Z at one side of the wall is the origin. As shown in fig. 2, the center line of the wall is located at the center of the thickness direction of the wall body, parallel to the ground direction. As shown in fig. 3, the Z-axis direction is the height direction of the wall.
b. Calculating the standing position of the robot, wherein the brick laying robot takes the linear position of the distance J in front of the central line of the linear wall as a walking path; and calculating a plurality of standing position positions along the walking path, and determining the coordinate position of each standing position by taking each standing position as a station by the brick laying robot.
The brick laying robot calculates the distance J along the front of the linear wall according to the following formula 1:
Figure BDA0001375097300000064
wherein XC is the horizontal stroke of the anchor clamps of laying bricks on the arm of machinery, and A is safe distance, and R is rotation type removal chassis diameter, and B is the thickness of fragment of brick. The safe distance needs to be determined in advance according to actual conditions, so that a certain distance exists between the maximum horizontal stroke of the bricklaying fixture and the bricklaying fixture at the limit position of the mechanical arm according to needs, and the bricklaying fixture is prevented from colliding and interfering with the edge of a wall to be bricklayed.
The coordinate position of the first standing posture of the brick laying robot is (x)1J), the coordinate position of the nth standing position is (x)nJ), distance between adjacent standing positions is Z, wherein x1，Z、xnCalculated according to the following formula 2 to formula 4:
Figure BDA0001375097300000065
where F is the length of the block. (formula 2)
Figure BDA0001375097300000071
xn＝x1+ (n-1) Z (n is more than or equal to 2). (formula 4)
c. The brick taking position is calculated, the brick is placed on the brick taking position and is grabbed by the brick laying robot, the brick taking position is located in the stroke range of the brick laying clamp of the brick laying robot, each station posture of the brick laying robot corresponds to one brick taking position along with the movement of the brick laying robot, and the coordinate position of each brick taking position is determined.
In this embodiment, the brick laying clamp is arranged at the maximum stroke, and the acute angle α of backward rotation is set to be the corresponding brick taking position from any standing position parallel to the walking path direction of the brick laying robot, that is, the walking path of the brick laying robot is located between the moving path of the brick taking position and a linear wall body, the brick taking position and the center of the rotary robot keep a relatively fixed position, and the coordinate position of the brick taking position at the nth standing position of the brick laying robot is (x) positionn is taken，yn is taken)(n≥1)。
xn is taken＝cosα(XC-A)+xn(formula 5)
yn is takenSin α (XC-a) + J (equation 6)
d. And (4) calculating the number of the bricks, the number of each brick and the central point coordinate of each brick.
Total number of bricks PGeneral assemblyThe number of bricks on the No. P skin is M', and the total number of skins is calculated according to the following formula 7.
Figure BDA0001375097300000072
PGeneral assemblyTaking an integer, wherein H is the total height of the linear wall, H is the height of the brick, and r is the thickness of the mortar joint. (formula 7)
Let M be the predicted quantity of bricks, L/(F + r), L be the total length of straight wall, F be the length of monoblock brick, FnThe coordinate (x) of the center point of the nth brick on the pth wall body is the length of the nth brickn bricks，0，zn bricks)，zn bricks＝Ph-0.5h+(P-1)r。
The number M' of bricks and the length F of the nth brick are calculated according to the following tablenAnd the coordinate x of the center point of the nth brickn bricks。
Figure BDA0001375097300000073
△ is 0, the wall is built as shown in fig. 3, when P is odd, the calculation formula on the odd layer is as follows, formulas 8 and 10 mean that bricks on the odd layer are arranged according to head and tail half bricks, the middle is a whole brick, and bricks on the even layer are arranged according to the whole brick, thus the bricks of the adjacent skins are arranged in a lap joint I-shaped seam, which meets the building requirement of the wall.
Figure BDA0001375097300000081
Figure BDA0001375097300000082
P is even, i.e., the calculation formula on the even layer is as follows.
FnAs M (equation 10), F n is equal to 1, 2
Figure BDA0001375097300000083
Figure BDA0001375097300000084
When the masonry wall shown in fig. 4 is provided with an odd number of P, the calculation formula on the odd-numbered courses is as follows.
Figure BDA0001375097300000085
Figure BDA0001375097300000086
P is even, i.e., the calculation formula on the even layer is as follows.
Figure BDA0001375097300000087
Figure BDA0001375097300000091
When in use
Figure BDA0001375097300000092
When the masonry wall shown in fig. 5 is provided, if P is odd, the calculation formula on the odd-numbered courses is as follows.
Figure BDA0001375097300000093
Figure BDA0001375097300000094
When P is an even number, the calculation formula on the even layer is as follows.
Figure BDA0001375097300000095
Figure BDA0001375097300000096
When in use
Figure BDA0001375097300000097
When the masonry wall shown in fig. 6 is provided, if P is odd, the calculation formula on the odd-numbered courses is as follows.
Figure BDA0001375097300000098
Figure BDA0001375097300000099
When P is an even number, the calculation formula on the even layer is as follows.
Figure BDA0001375097300000101
Figure BDA0001375097300000102
e. Calculating a building track, namely calculating an action instruction of clamping bricks from a brick taking position and building bricks layer by layer one by a brick building robot in each standing posture; and sending the action instruction to a programming control system to enable the programming control system to execute corresponding actions to build the linear wall.
The brick laying robot starts to lay the 1 st wall from the first standing position of the 1 st wall until the nth standing position finishes laying the 1 st wall, then starts to lay the 2 nd wall from the nth standing position until the 1 st standing position finishes laying the 2 nd wall, and repeatedly lays the bricks back and forth until the whole wall is laid.
The following action instructions are constructed at each stance location,
(1) the bricklaying robot returns to the initial position: the rotary movable chassis rotates to a limit point, and the rising distance GC of the brick laying module on the lifting module at the No. P leatherp(calculated according to equation 24) the bricklaying jig is rotated to be parallel to the path of travel.
GCpPh-0.5h + (P-1) r + K + A, where K is the bricklaying fixture height. (formula 24)
(2) Clamping bricks, rotating the rotary moving chassis for α degrees, and clamping the bricks at the corresponding brick taking positions when the brick laying clamp moves to the maximum stroke;
(3) and (5) laying bricks, wherein the brick laying clamp clamps the bricks and then rotates to the coordinate point position of the bricks to place.
In conclusion, through the wall building algorithm, all the steps are input into the programming control system through programming, so that the intelligent control of the wall building of the brick building robot is realized, and the accurate building of the linear wall body is realized.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.

Claims (7)

1. A bricklaying robot comprises a rotary moving chassis, a lifting module, a bricklaying module and a programming control system which are sequentially connected, wherein the bricklaying module comprises a mechanical arm and a bricklaying clamp, and the bricklaying clamp moves within the stroke range of the mechanical arm; the module of laying bricks realizes reciprocating on lifting module through a lead screw, the module of laying bricks use lifting module to realize circular motion through rotation type removal chassis as the axle, its characterized in that includes following step:
a. determining a reference coordinate system, wherein the central line of the wall to be built is an X axis, the central line vertical to the wall is a Y axis, the height direction of the wall is a Z axis, and the intersection point of the bottom end X, Y, Z at one side of the wall is an original point;
b. calculating the standing position of the robot, wherein the brick laying robot takes the linear position of the distance J in front of the central line of the linear wall as a walking path; calculating a plurality of standing position positions along the walking path, and determining the coordinate position of each standing position by taking each standing position as a station by the brick laying robot; the brick laying robot calculates the distance J along the front of the linear wall according to the following formula:
Figure FDA0002283332190000011
wherein XC is the level of the brick laying clamp on the mechanical armThe travel is determined by the steps that A is a safe distance, R is the diameter of the rotary movable chassis, and B is the thickness of a brick;
c. calculating a brick taking position, placing bricks on the brick taking position for a brick laying robot to grasp, wherein the brick taking position is located in the stroke range of a brick laying clamp of the brick laying robot, each station posture of the brick laying robot corresponds to one brick taking position along with the movement of the brick laying robot, and the coordinate position of each brick taking position is determined;
d. calculating the number of bricks, the number of each brick and the central point coordinate of each brick;
e. calculating a building track, namely calculating an action instruction of clamping bricks from a brick taking position and building bricks layer by layer one by a brick building robot in each standing posture; and sending the action instruction to a programming control system to enable the programming control system to execute corresponding actions to build the linear wall.
2. A masonry algorithm for a rectilinear wall of a brick laying robot according to claim 1, characterized in that: and e, building the brick building robot from the first standing position of the 1 st wall until the nth standing position finishes building the 1 st wall, then starting building the 2 nd wall from the nth standing position until the 1 st standing position finishes building the 2 nd wall, and repeatedly building back and forth until the whole wall is built.
3. A masonry algorithm for a rectilinear wall of a brick laying robot according to claim 1, characterized in that: in the step b, the coordinate position of the first standing position is (x)1J), the coordinate position of the nth standing position is (x)nJ), wherein x1，xnCalculated according to the following formula:
Figure FDA0002283332190000012
wherein F is the length of the brick;
the distance between adjacent standing postures is
Figure FDA0002283332190000013
xn＝x1+(n-1)Z(n≥2)。
4. A masonry algorithm for a linear wall of a brick laying robot according to claim 3, wherein in the step c, the brick laying clamp is arranged at the maximum stroke, the backward rotation of the brick laying clamp from any standing position to the direction parallel to the walking path of the brick laying robot by an acute angle α is set to be a corresponding brick taking position, namely, the walking path of the brick laying robot is positioned between the moving path of the brick taking position and the linear wall, the brick taking position and the center of the brick laying robot keep a relatively fixed position, and the coordinate position of the brick taking position at the nth standing position of the brick laying robot is (x) th standing positionn is taken，yn is taken)(n≥1)，
xn is taken＝cosα(XC-A)+xn，
yn is taken＝sinα(XC-A)+J。
5. A masonry algorithm for a rectilinear wall of a brick laying robot according to claim 4, characterized in that: d total number of bricks P in step dGeneral assemblyThe number of bricks on the No. P skin is M', calculated according to the following formula,
Figure FDA0002283332190000021
Pgeneral assemblyTaking an integer, wherein H is the total height of the linear wall, H is the height of the brick, r is the thickness of the mortar joint, M is L/(F + r), M is an integer, the value after the decimal point is △, L is the total length of the linear wall, F is the length of the whole brick, F is the total length of the whole brick, H is the total height of the linear wall, H is the height of the brick, r is the thickness of the mortar joint, M isnThe length of the nth brick;
when △ is equal to 0 and P is odd, M' is equal to M +1
Figure FDA0002283332190000022
When △ is equal to 0, and P is even, M' is equal to M
Fn＝F n＝1,2,……M；
When in use
Figure FDA0002283332190000023
When is, PWhen the number is odd, M ═ M +1, FnCalculated according to the following formula:
Figure FDA0002283332190000024
when in use
Figure FDA0002283332190000025
When P is even, M ═ M +1, FnCalculated according to the following formula:
Figure FDA0002283332190000026
when in use
Figure FDA0002283332190000027
When P is odd, M ═ M +1, FnCalculated according to the following formula:
Figure FDA0002283332190000028
when in use
Figure FDA0002283332190000031
When P is even, M ═ M +1, FnCalculated according to the following formula:
Figure FDA0002283332190000032
when in use
Figure FDA0002283332190000033
When P is odd, M ═ M +1, FnCalculated according to the following formula:
Figure FDA0002283332190000034
when in use
Figure FDA0002283332190000035
When P is even, M ═ M +2, FnCalculated according to the following formula:
Figure FDA0002283332190000036
6. a masonry algorithm for a rectilinear wall of a brick laying robot according to claim 5, characterized in that: coordinate (x) of the center point of the nth brick on the pth walln bricks，0，zn bricks)，zn bricks＝Ph-0.5h+(P-1)r，
When △ is 0, P is odd, xn bricksCalculated according to the following formula:
Figure FDA0002283332190000037
when △ is 0, P is even, xn bricksCalculated according to the following formula:
Figure FDA0002283332190000038
when in use
Figure FDA0002283332190000039
When P is an odd number, xn bricksCalculated according to the following formula:
Figure FDA00022833321900000310
when in use
Figure FDA00022833321900000311
When P is an even number, xn bricksCalculated according to the following formula:
Figure FDA0002283332190000041
when in use
Figure FDA0002283332190000042
When P is an odd number, xn bricksCalculated according to the following formula:
Figure FDA0002283332190000043
when in use
Figure FDA0002283332190000044
When P is an even number, xn bricksCalculated according to the following formula:
Figure FDA0002283332190000045
when in use
Figure FDA0002283332190000046
When P is an odd number, xn bricksCalculated according to the following formula:
Figure FDA0002283332190000047
when in use
Figure FDA0002283332190000048
When P is an even number, xn bricksCalculated according to the following formula:
Figure FDA0002283332190000049
7. a masonry algorithm for a rectilinear wall of a brick laying robot according to claim 6, characterized in that: the following action instructions are constructed at each stance location,
(1) the brick laying robot returns to the initial position: the rotary movable chassis rotates to a limit point, and the brick laying module goes up and down at the No. P skinThe rising distance of the module is GCpThe bricklaying fixture rotates to be parallel to the walking path;
GCpph-0.5h + (P-1) r + K + A, wherein K is the height of the brick laying clamp;
(2) clamping bricks, rotating the rotary moving chassis for α degrees, and clamping the bricks at the corresponding brick taking positions when the brick laying clamp moves to the maximum stroke;
(3) and (5) laying bricks, wherein the brick laying clamp clamps the bricks and then rotates to the coordinate point position of the bricks to place.
CN201710679426.8A 2017-08-10 2017-08-10 Masonry algorithm of linear wall of brick laying robot Active CN107357294B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710679426.8A CN107357294B (en) 2017-08-10 2017-08-10 Masonry algorithm of linear wall of brick laying robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710679426.8A CN107357294B (en) 2017-08-10 2017-08-10 Masonry algorithm of linear wall of brick laying robot

Publications (2)

Publication Number Publication Date
CN107357294A CN107357294A (en) 2017-11-17
CN107357294B true CN107357294B (en) 2020-04-03

Family

ID=60287533

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710679426.8A Active CN107357294B (en) 2017-08-10 2017-08-10 Masonry algorithm of linear wall of brick laying robot

Country Status (1)

Country Link
CN (1) CN107357294B (en)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7108609B2 (en) 2016-07-15 2022-07-28 ファストブリック・アイピー・プロプライエタリー・リミテッド material transport boom
ES2899284T3 (en) 2016-07-15 2022-03-10 Fastbrick Ip Pty Ltd Vehicle incorporating a brick laying machine
CN111095355B (en) 2017-07-05 2023-10-20 快砖知识产权私人有限公司 Real-time positioning and orientation tracker
CN111226090B (en) 2017-08-17 2023-05-23 快砖知识产权私人有限公司 Laser tracker with improved roll angle measurement
US11958193B2 (en) 2017-08-17 2024-04-16 Fastbrick Ip Pty Ltd Communication system for an interaction system
ES2971624T3 (en) 2017-10-11 2024-06-06 Fastbrick Ip Pty Ltd Machine for transporting objects
CN108061551B (en) * 2017-12-07 2020-01-31 中机国际工程设计研究院有限责任公司 Positioning system of automatic masonry device and automatic masonry device
CN110952790A (en) * 2018-09-27 2020-04-03 千寻位置网络有限公司 Wall building method and system based on differential positioning and wall building machine
CN112922366B (en) * 2019-12-05 2022-08-19 厦门华蔚物联网科技有限公司 Automatic deviation rectifying system and method for wall brick plane
CN111350361B (en) * 2020-03-16 2021-10-15 广东博智林机器人有限公司 Masonry method, masonry system and masonry robot
DK180994B1 (en) 2020-12-28 2022-09-12 Briiso Aps Construction robot and method of automatic attachment of building blocks against a vertical wall
CN115450447B (en) * 2021-06-08 2024-05-31 广东博智林机器人有限公司 Interactive system, brickwork device, brickwork manipulator and brickwork positioning method

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4417928A1 (en) * 1994-05-24 1995-11-30 Lissmac Maschb & Diamantwerkz Device for deploying building blocks
US7513822B2 (en) * 2005-06-18 2009-04-07 Flitsch Frederick A Method and apparatus for a cleanspace fabricator
AU2007203730B2 (en) * 2005-12-30 2012-09-27 Fastbrick Ip Pty Ltd An automated brick laying system for constructing a building from a plurality of bricks
CN104153591B (en) * 2014-08-11 2016-10-19 山东科技大学 A kind of fully-automatic intelligent wall-building machine
CN106592991B (en) * 2016-11-29 2019-02-05 厦门华蔚物联网科技有限公司 A kind of light-duty, moveable bricklaying robot

Also Published As

Publication number Publication date
CN107357294A (en) 2017-11-17

Similar Documents

Publication Publication Date Title
CN107357294B (en) Masonry algorithm of linear wall of brick laying robot
CN107654077B (en) Masonry algorithm of brick-laying robot linear wall body considering mortar plasticity
CN107605167B (en) Right-angle wall building method of brick-building robot
CN107740591B (en) T-shaped wall building method of brick building robot
CN104153591B (en) A kind of fully-automatic intelligent wall-building machine
JP2018527646A (en) Biped robot walking control method and walking control device
CN107083845A (en) A kind of automatic wall-building method and automatic wall-building system
CN105544998A (en) Automatic bricklaying device
CN104570735A (en) Arc-shaped movement-track algorithm for palletizing robot
CN113062601B (en) Q learning-based concrete distributing robot trajectory planning method
CN104175309B (en) A kind of vallum robot
CN102345390A (en) Method for compensating for deflection of concrete pump truck arm support
WO2011012033A1 (en) Method and system for controlling large-scale engineering manipulator
WO2013007039A1 (en) Mechanical arm control method and device and engineering machinery
CN205116763U (en) Automatic device of laying bricks
CN104131686B (en) Angle correcting and positioning method achieved in robot and plane non-contact mode
Teng et al. BIM-enabled collaborative-robots 3D concrete printing to construct MiC with reinforcement
Xu et al. Automatic brick masonry system and its application in on-site construction
WO2013007037A1 (en) Engineering machinery and method and apparatus for controlling mechanical arm
CN207144248U (en) A kind of assembled architecture wall
CN201972409U (en) Adjustable leveling bench
Kovářík et al. Limits and Potential of 3D Printing Technologies for Construction of concrete shells
CN207314886U (en) Filling walling is built by laying bricks or stones with skin number rope instrument
Jianghai et al. Walking pattern generation of biped robot using trajectory planning of gravity center
CN206357408U (en) Cement light partition wall board shaping equipment

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant