CN108061551A - Automatically build the alignment system of device by laying bricks or stones and build device by laying bricks or stones automatically - Google Patents
Automatically build the alignment system of device by laying bricks or stones and build device by laying bricks or stones automatically Download PDFInfo
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- CN108061551A CN108061551A CN201711281912.0A CN201711281912A CN108061551A CN 108061551 A CN108061551 A CN 108061551A CN 201711281912 A CN201711281912 A CN 201711281912A CN 108061551 A CN108061551 A CN 108061551A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
-
- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- Architecture (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
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Abstract
It automatic build the alignment system of device by laying bricks or stones the invention discloses a kind of and builds device by laying bricks or stones automatically, the alignment system includes gathering the collecting unit of true spatial location information, for receiving the processing unit for the location information that collecting unit is gathered, and the storage unit for storing the threedimensional model being pre-designed, processing unit is used to build actual spatial coordinates system according to location information, it is and actual spatial coordinates system is corresponding with the coordinate system of threedimensional model, and analysis draws position and the relevant parameter of body to be built a wall in the actual spatial coordinates system after correspondence, and go out to build by laying bricks or stones machine in real space towards the direction of travel and distance of body to be built a wall by building the position analysis in actual spatial coordinates system of the machine after correspondence by laying bricks or stones.The present invention can solve to build the orientation problem of device by laying bricks or stones automatically, influenced by construction site environment it is smaller, positioning it is more accurate, be advantageously implemented intelligent construction.
Description
Technical field
The present invention relates to building automation technical field, particularly, be related to a kind of automatic alignment system for building device by laying bricks or stones and
Automatically device is built by laying bricks or stones.
Background technology
Existing brick wall is built by laying bricks or stones mainly to be had been manually done by people, there are the construction time is long, construction quality is affected by human factors,
The unfavorable factors such as labor strength is big, operating environment is dangerous.
Automatically building device by laying bricks or stones at home and abroad has many enterprises being researched and developed, but since construction site environment is complicated, with reality
It is larger to test room environmental difference, therefore does not have large-scale application also.These, which build the problem of device is primarily present by laying bricks or stones, is, only considers brick body
Conveying and build by laying bricks or stones, do not account for how ensureing wall body position is correct and masonry it is clear and coherent, straight.Either only by red
The methods of outside line, controls the relation between wall body and machine, is affected by construction site environment, position inaccurate, and can not be real
Existing intelligent construction.
The content of the invention
The present invention provides it is a kind of it is automatic build the alignment system of device by laying bricks or stones and build device by laying bricks or stones automatically, to solve existing automatic block
The technical issues of building the position inaccurate of device.
The technical solution adopted by the present invention is as follows：
On the one hand, the present invention provides a kind of automatic alignment system for building device by laying bricks or stones, including being used to gather real space position
The collecting unit of confidence breath, for the processing unit that receives the location information that collecting unit is gathered and for storing in advance
The storage unit of the threedimensional model of design, processing unit are used to build actual spatial coordinates system according to location information and incite somebody to action true
Space coordinates are corresponding with the coordinate system of threedimensional model and actual spatial coordinates system after correspondence in analysis draw and wait to build
The position of wall and relevant parameter simultaneously go out masonry machine by building the position analysis in actual spatial coordinates system of the machine after correspondence by laying bricks or stones
Device is in real space towards the direction of travel and distance of body to be built a wall.
Further, collecting unit includes gyroscope, and gyroscope is used to gather the Z-direction information consistent with gravity direction,
And it is sent to processing unit；Processing unit is used to receive Z-direction information and according to Z-direction information architecture actual spatial coordinates system
The Z-direction and Z-direction of actual spatial coordinates system is corresponding with the Z-direction of threedimensional model.
Further, collecting unit includes the mobile levelling contact for being arranged at and building by laying bricks or stones on machine, and levelling contact is used to gather
The first position information of the polishing plane consistent with the bottom absolute altitude of body to be built a wall, and it is sent to processing unit；Processing unit is also used
In reception first position information and according to the X/Y plane of first position information architecture actual spatial coordinates system and the true sky of general
Between coordinate system X/Y plane it is corresponding with the X/Y plane of threedimensional model, X/Y plane correspond to polishing plane.
Optionally, collecting unit includes being arranged at the multiple levelling contacts built by laying bricks or stones on machine, and multiple levelling contacts are used to adopt
Collect multiple first position information of the polishing plane consistent with the bottom absolute altitude of body to be built a wall, and be sent to processing unit；Processing is single
Member is additionally operable to receive multiple first position information and goes out true sky according to multiple first position information combination least square fittings
Between coordinate system X/Y plane and, the X/Y plane corresponding with the X/Y plane of threedimensional model by the X/Y plane of actual spatial coordinates system
Corresponding polishing plane.
Further, collecting unit includes the first position sensor being arranged on the first column face and second position sensing
Device, the line between first position sensor and second position sensor is not parallel with Z-direction, first position sensor and second
Position sensor is sent to processing unit for gathering the second position information in the first column face；Processing unit is additionally operable to connect
Receive second position information, and according to the XZ planes of second position information architecture actual spatial coordinates system and by actual spatial coordinates
The XZ planes of system are corresponding with the in threedimensional model first virtual column face to be overlapped.
Further, collecting unit includes the third place sensor being arranged on the second column face, the third place sensing
Device is sent to processing unit for gathering the third place information of corresponding position point on the second column face；Processing unit is also used
In receiving the third place information, and according to the YZ planes of the third place information architecture actual spatial coordinates system and by real space
The YZ planes of coordinate system are corresponding with the in threedimensional model second virtual column face to be overlapped.
Further, the first column face and the second column face are not parallel mutually.
Further, collecting unit includes being built in building embedded position sensor in machine by laying bricks or stones, and embedded position sensor is used
Fourth location information of the machine in real space is built by laying bricks or stones in acquisition and is sent to processing unit, and processing unit is for receiving the 4th
Location information simultaneously determines to build virtual location of the machine in actual spatial coordinates system corresponding with the coordinate system of threedimensional model by laying bricks or stones,
And the direction of travel and distance for building machine by laying bricks or stones are drawn according to virtual location analysis.
According to another aspect of the present invention, additionally provide it is a kind of build device by laying bricks or stones automatically, including building machine and above-mentioned by laying bricks or stones
Alignment system.
The present invention gathers true spatial location information by collecting unit, utilizes processing unit structure actual spatial coordinates system
And it is corresponding with the coordinate system of threedimensional model, and analysis draws body to be built a wall in the actual spatial coordinates system after correspondence
Position and relevant parameter, and go out to build by laying bricks or stones machine true by building the position analysis in actual spatial coordinates system of the machine after correspondence by laying bricks or stones
It can solve to build the positioning of device by laying bricks or stones automatically towards the direction of travel and distance of body to be built a wall, alignment system of the invention in the real space
Problem, influenced by construction site environment it is smaller, positioning it is more accurate, be advantageously implemented intelligent construction.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to accompanying drawings, the present invention is described in further detail.
Description of the drawings
The attached drawing for forming the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention
Example and its explanation are applied for explaining the present invention, is not constituted improper limitations of the present invention.In the accompanying drawings：
Fig. 1 is the structure diagram of the automatic alignment system for building device by laying bricks or stones of the preferred embodiment of the present invention；
Fig. 2 is showing for the automatic alignment system for building device by laying bricks or stones of the preferred embodiment of the present invention, body to be built a wall and column face
It is intended to；
Fig. 3 is the Z axis of the automatic alignment system structure actual spatial coordinates system for building device by laying bricks or stones of the preferred embodiment of the present invention
Direction and the schematic diagram of X/Y plane；
Fig. 4 is the XZ faces of the automatic alignment system structure actual spatial coordinates system for building device by laying bricks or stones of the preferred embodiment of the present invention
Schematic diagram；
Fig. 5 is the YZ faces of the automatic alignment system structure actual spatial coordinates system for building device by laying bricks or stones of the preferred embodiment of the present invention
Schematic diagram.
Drawing reference numeral explanation：
100th, collecting unit；200th, processing unit；300th, storage unit；1st, body to be built a wall；2nd, machine is built by laying bricks or stones；3rd, it is levelling to touch
Head；4th, polishing plane；5th, the first column face；6th, first position sensor；7th, second position sensor；8th, the second column face；9、
The third place sensor.
Specific embodiment
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Referring to Figures 1 and 2, the preferred embodiment of the present invention provides a kind of automatic alignment system for building device by laying bricks or stones, including
For gathering the collecting unit 100 of true spatial location information, the place for receiving the location information that collecting unit 100 is gathered
Reason unit 200 and the storage unit 300 for storing the threedimensional model being pre-designed.Processing unit 200 is used for according to position
Information architecture actual spatial coordinates system is simultaneously corresponding with the coordinate system of threedimensional model and in correspondence by actual spatial coordinates system
Analysis is drawn wait the position for body 1 of building a wall and relevant parameter and by building machine 2 by laying bricks or stones after correspondence in actual spatial coordinates system afterwards
Position analysis in actual spatial coordinates system go out to build by laying bricks or stones machine 2 in real space towards body 1 to be built a wall direction of travel and away from
From.The present invention gathers true spatial location information by collecting unit 100, and actual spatial coordinates are built using processing unit 200
It is and it is corresponding with the coordinate system of threedimensional model, and analysis draws body to be built a wall in the actual spatial coordinates system after correspondence
1 position and relevant parameter, and go out to build machine by laying bricks or stones by building the position analysis in actual spatial coordinates system of the machine 2 after correspondence by laying bricks or stones
2 can solve to build device by laying bricks or stones automatically in real space towards the direction of travel and distance of body 1 to be built a wall, alignment system of the invention
Orientation problem, influenced by construction site environment it is smaller, positioning it is more accurate, be advantageously implemented intelligent construction.
In the present invention, processing unit 200 is to be built in the processor built by laying bricks or stones in machine 2.
The threedimensional model being pre-designed is had built up before construction, such as BIM data.Threedimensional model includes
Virtual ground and column, the first virtual column face, the second virtual column face and virtual body to be built a wall.The phase of body 1 to be built a wall
Related parameter includes length, width, height and the position of body 1 to be built a wall.
Further, collecting unit 100 includes gyroscope, and gyroscope is believed for gathering the Z-direction consistent with gravity direction
Breath, and it is sent to processing unit 200；Processing unit 200 is sat for receiving Z-direction information according to Z-direction information truth space
Mark the Z-direction and Z-direction of actual spatial coordinates system is corresponding with the Z-direction of threedimensional model of system.
Further, collecting unit 100 includes the mobile levelling contact 3 for being arranged at and building by laying bricks or stones on machine 2, and levelling contact 3 is used
In the first position information of the acquisition polishing plane 4 consistent with the bottom absolute altitude of body 1 to be built a wall, and it is sent to processing unit 200；Place
Reason unit 200 be additionally operable to receive first position information, and according to the X/Y plane of first position information architecture actual spatial coordinates system,
And the X/Y plane of actual spatial coordinates system is corresponding with the X/Y plane of threedimensional model, X/Y plane corresponds to polishing plane 4.
Optionally, collecting unit 100 includes being arranged at the multiple levelling contacts 3 built by laying bricks or stones on machine 2, multiple levelling contacts 3
For gathering multiple first position information of the polishing plane 4 consistent with the bottom absolute altitude of body 1 to be built a wall, and it is sent to processing unit
200；Processing unit 200 is additionally operable to receive multiple first position information, and according to multiple first position information combination least squares
Method fits the X/Y plane of actual spatial coordinates system and by the X/Y plane of actual spatial coordinates system and the X/Y plane of threedimensional model
Corresponding, X/Y plane corresponds to polishing plane 4.
Further, collecting unit 100 includes the first position sensor 6 and second that are arranged on the first column face 5
Sensor 7 is put, the line between first position sensor 6 and second position sensor 7 is not parallel with Z-direction, and first position passes
Sensor 6 and second position sensor 7 are sent to processing unit 200 for gathering the second position information in the first column face 5；
Processing unit 200 is additionally operable to receive second position information, and is put down according to the XZ of second position information architecture actual spatial coordinates system
Face is simultaneously overlapped the XZ planes of actual spatial coordinates system are corresponding with the first virtual column face in threedimensional model.Specifically, this is excellent
It selects in embodiment, first position sensor 6 and second position sensor 7 are located in same horizontal line.
Further, collecting unit 100 includes the third place sensor 9 being arranged on the second column face 8, the third place
Sensor 9 is sent to processing unit 200 for gathering the third place information of corresponding position point on the second column face 8；Processing
Unit 200 be additionally operable to receive the third place information, and according to the YZ planes of the third place information architecture actual spatial coordinates system, simultaneously
It overlaps the YZ planes of actual spatial coordinates system are corresponding with the second virtual column face in threedimensional model.
Further, collecting unit 100 includes being built in building embedded position sensor in machine 2 by laying bricks or stones, embedded position sensing
Device builds fourth location information of the machine 2 in real space by laying bricks or stones and is sent to processing unit 200 for gathering, processing unit 200
For receiving the 4th location information and determining to build by laying bricks or stones machine 2 in actual spatial coordinates system corresponding with the coordinate system of threedimensional model
In virtual location, and drawn according to virtual location analysis and build the direction of travel and distance of machine 2 by laying bricks or stones.
Further, the first column face 5 and the second column face 8 are not parallel mutually.In this preferred embodiment, body 1 to be built a wall
Between two columns, for ease of structure true coordinate system, first position sensor 6 and second position sensor 7 are arranged at
On first column face 5 of one of column, and the third place sensor 9 is then arranged at the second column face 8 of another column
On.
According to another aspect of the present invention, additionally provide it is a kind of build device by laying bricks or stones automatically, including building machine 2 and above-mentioned by laying bricks or stones
Alignment system.
With reference to Fig. 2, into Fig. 5 figures, (Fig. 3 solid lines into Fig. 5 figures represent ground and the column of real space, and dotted line represents three
Ground and column in dimension module), the automatic alignment system for building device by laying bricks or stones using the present invention, the process positioned is specific
It is as follows：
Pre-designed threedimensional model importing is built by laying bricks or stones in the storage unit 300 of device automatically, threedimensional model includes
First virtual column face, the second virtual column face and virtual body to be built a wall.
In Fig. 2, one piece of polishing plane 4 consistent with wall bottom absolute altitude is polished in the room floors for needing to construct, it will
The levelling contact 3 for building machine 2 by laying bricks or stones is placed and is polished flat herein on face 4；The Z-direction consistent with gravity direction is determined by gyroscope,
It is corresponding with the Z-direction in threedimensional model.It is and polishing plane 4 is corresponding with the X/Y plane in threedimensional model.It it is possible thereby to will be true
Along Z-direction displacement freedom, the degree of freedom rotated around X-direction, the degree of freedom rotated around Y-direction limits real space coordinate system,
See Fig. 3.
On the first column face 5 parallel with body 1 to be built a wall, first position sensor 6 and second position sensor 7 are set
(two sensors can not be positioned on same vertical line)；By the corresponding first virtual column face in threedimensional model and this first
The position of position sensor 6 and second position sensor 7 overlaps, and can limit actual spatial coordinates system along Y-direction displacement
Degree of freedom and around the degree of freedom that Z-direction rotates, is shown in Fig. 4.
One the third place sensor 9 is set on the second column face 8 intersected with body 1 to be built a wall, and by threedimensional model
In the second virtual column face overlapped with 9 position of 3rd sensor, can limit actual spatial coordinates system in X direction position from
By spending.So far, the six-freedom degree of actual spatial coordinates system is completely restricted, can be with the column in threedimensional model and ground
It is completely superposed, sees Fig. 5.
By actual spatial coordinates system it is corresponding with the coordinate system in threedimensional model after, threedimensional model can be passed through in turn
In the position of virtual body to be built a wall map to obtain body 1 to be built a wall in the position of real space, similarly, by threedimensional model
The relevant parameter of virtual body to be built a wall, can map to obtain the relevant parameter of body to be built a wall in real space.Meanwhile system can
To obtain building position of the machine 2 in real space by laying bricks or stones by building the embedded position sensor of machine 2 by laying bricks or stones.Processing unit 200 is true
The virtual location built by laying bricks or stones in actual spatial coordinates system of the machine 2 after correspondence is made, and block is drawn according to virtual location analysis
The direction of travel and distance of machine 2 are built, block is automatically controlled according to the direction of travel and distance determined in true coordinate system as a result,
Machine 2 is built by the modes such as universal wheel automatically walk to the position of body 1 to be built a wall, realizes automating, being intelligent for building wall.
It these are only the preferred embodiment of the present invention, be not intended to limit the invention, for those skilled in the art
For member, the invention may be variously modified and varied.Any modification within the spirit and principles of the invention, being made,
Equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of automatic alignment system for building device by laying bricks or stones, which is characterized in that including being used to gather adopting for true spatial location information
Collection unit (100), for receiving the processing unit (200) for the location information that the collecting unit (100) is gathered and be used for
The storage unit (300) for the threedimensional model being pre-designed is stored, the processing unit (200) is used for according to the location information structure
Build the actual spatial coordinates system and actual spatial coordinates system is corresponding with the coordinate system of the threedimensional model and right
The position for drawing body to be built a wall (1) and relevant parameter are analyzed in actual spatial coordinates system after answering and by building machine (2) by laying bricks or stones right
The position analysis in actual spatial coordinates system after answering goes out to build by laying bricks or stones machine (2) body (1) to be built a wall described in real space
Direction of travel and distance.
2. the automatic alignment system for building device by laying bricks or stones according to claim 1, which is characterized in that the collecting unit (100)
Including gyroscope, the gyroscope is sent to the processing unit for gathering the Z-direction information consistent with gravity direction
(200)；The processing unit (200) for receive the Z-direction information and according to the Z-direction information architecture it is true
The Z-direction of space coordinates and by the Z-direction of the actual spatial coordinates system and the Z-direction phase of the threedimensional model
It is corresponding.
3. the automatic alignment system for building device by laying bricks or stones according to claim 2, which is characterized in that the collecting unit (100)
The levelling contact (3) built by laying bricks or stones on machine (2) is arranged at including mobile, the levelling contact (3) is treated for gathering with described
Build a wall body (1) the consistent polishing plane (4) of bottom absolute altitude first position information, and be sent to the processing unit (200)；Institute
It states processing unit (200) and is additionally operable to receive the first position information and true according to the first position information architecture
The X/Y plane of the space coordinates and X/Y plane of the actual spatial coordinates system is opposite with the X/Y plane of the threedimensional model
Should, the X/Y plane corresponds to the polishing plane (4).
4. the automatic alignment system for building device by laying bricks or stones according to claim 2, which is characterized in that the collecting unit (100)
Including being arranged at the multiple levelling contacts (3) built by laying bricks or stones on machine (2), multiple levelling contacts (3) are for acquisition and institute
Multiple first position information of the consistent polishing plane (4) of bottom absolute altitude of body to be built a wall (1) are stated, and are sent to the processing unit
(200)；The processing unit (200) is additionally operable to receive multiple first position information and according to multiple first positions
Information combination least square fitting goes out the X/Y plane of the actual spatial coordinates system and by the actual spatial coordinates system
X/Y plane is corresponding with the X/Y plane of the threedimensional model, and the X/Y plane corresponds to the polishing plane (4).
5. the automatic alignment system for building device by laying bricks or stones according to claim 3 or 4, which is characterized in that the collecting unit
(100) include being arranged at first position sensor (6) and second position sensor (7) on the first column face (5), described first
Line between position sensor (6) and the second position sensor (7) is not parallel with the Z-direction, the first position
Sensor (6) and the second position sensor (7) are used to gather the second position information of the first column face (5), concurrently
Give the processing unit (200)；The processing unit (200) is additionally operable to receive the second position information, and according to described
XZ planes of actual spatial coordinates system described in the information architecture of the second position and by the XZ planes of the actual spatial coordinates system and institute
The the first virtual column face stated in threedimensional model corresponds to coincidence.
6. the automatic alignment system for building device by laying bricks or stones according to claim 5, which is characterized in that the collecting unit (100)
Including the third place sensor (9) being arranged on the second column face (8), the third place sensor (9) is used to gather institute
The third place information of corresponding position point on the second column face (8) is stated, and is sent to the processing unit (200)；The processing
Unit (200) is additionally operable to receive the third place information, and real space is sat according to the third place information architecture
It marks the YZ planes of system and faces the YZ planes of the actual spatial coordinates system and the second virtual column in the threedimensional model
It should overlap.
7. the automatic alignment system for building device by laying bricks or stones according to claim 6, which is characterized in that the first column face (5)
It is not parallel mutually with the second column face (8).
8. the automatic alignment system for building device by laying bricks or stones according to claim 6, which is characterized in that the collecting unit (100)
Embedded position sensor in machine (2) is built by laying bricks or stones including being built in, and the embedded position sensor described builds machine by laying bricks or stones for gathering
(2) the 4th location information in real space and the processing unit (200) is sent to, the processing unit (200) is used for
It receives the 4th location information and determines to build by laying bricks or stones machine (2) corresponding with the coordinate system of the threedimensional model described true
Virtual location in space coordinates, and according to virtual location analysis draw the direction of travel for building machine (2) by laying bricks or stones with
Distance.
9. one kind builds device by laying bricks or stones automatically, which is characterized in that including building machine (2) by laying bricks or stones and as described in any in claim 1 to 8
Alignment system.
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| CN201711281912.0A CN108061551B (en) | 2017-12-07 | 2017-12-07 | Positioning system of automatic masonry device and automatic masonry device |
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