CN108061551B - Positioning system of automatic masonry device and automatic masonry device - Google Patents
Positioning system of automatic masonry device and automatic masonry device Download PDFInfo
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- CN108061551B CN108061551B CN201711281912.0A CN201711281912A CN108061551B CN 108061551 B CN108061551 B CN 108061551B CN 201711281912 A CN201711281912 A CN 201711281912A CN 108061551 B CN108061551 B CN 108061551B
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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
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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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- 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
Abstract
The invention discloses a positioning system of automatic masonry devices and an automatic masonry device, wherein the positioning system comprises a collecting unit for collecting real space position information, a processing unit for receiving the position information collected by the collecting unit and a storage unit for storing a pre-designed three-dimensional model, the processing unit is used for constructing a real space coordinate system according to the position information, corresponding the real space coordinate system to the coordinate system of the three-dimensional model, analyzing the position and related parameters of a wall body to be built in the corresponding real space coordinate system, and analyzing the walking direction and distance of the masonry machine facing the wall body to be built in the real space by the position of the masonry machine in the corresponding real space coordinate system.
Description
Technical Field
The invention relates to the technical field of building automation, in particular to a positioning system of automatic masonry devices and the automatic masonry devices.
Background
The existing brick wall masonry is mainly completed manually, and has the disadvantages of long construction time, influence of human factors on construction quality, high labor intensity of workers, unsafe operation environment and the like.
The automatic masonry device is researched and developed by a plurality of enterprises at home and abroad, but the automatic masonry device is not applied in a large scale because the construction site environment is complex and is greatly different from the laboratory environment. The main problems of the masonry devices are that only the conveying and the masonry of bricks are considered, and how to ensure the correct position of the wall body and the smoothness and the straightness of the masonry are not considered. Or the relation between the wall body and the machine is controlled only by methods such as infrared rays and the like, the influence of the construction site environment is large, the positioning is inaccurate, and the intelligent construction cannot be realized.
Disclosure of Invention
The invention provides a positioning system of automatic masonry devices and an automatic masonry device, and aims to solve the technical problem that the positioning of the existing automatic masonry device is inaccurate.
The technical scheme adopted by the invention is as follows:
, the invention provides a positioning system of automatic masonry devices, which comprises a collecting unit for collecting real space position information, a processing unit for receiving the position information collected by the collecting unit, and a storage unit for storing a pre-designed three-dimensional model, wherein the processing unit is used for constructing a real space coordinate system according to the position information, corresponding the real space coordinate system to the coordinate system of the three-dimensional model, analyzing the position and related parameters of a wall body to be built in the corresponding real space coordinate system, and analyzing the walking direction and distance of the masonry machine in the real space towards the wall body to be built according to the position of the masonry machine in the corresponding real space coordinate system.
, the acquisition unit comprises a gyroscope used for acquiring Z-direction information corresponding to the gravity direction and sending the Z-direction information to the processing unit, and the processing unit is used for receiving the Z-direction information, constructing the Z-axis direction of the real space coordinate system according to the Z-direction information and enabling the Z-axis direction of the real space coordinate system to correspond to the Z direction of the three-dimensional model.
, the acquisition unit comprises a leveling contact movably arranged on the masonry machine, the leveling contact is used for acquiring th position information of a grinding plane corresponding to the bottom elevation of the wall to be built and sending the position information to the processing unit, the processing unit is also used for receiving the th position information, constructing an XY plane of a real space coordinate system according to the th position information, and enabling the XY plane of the real space coordinate system to correspond to the XY plane of the three-dimensional model, and the XY plane corresponds to the grinding plane.
Optionally, the acquisition unit comprises a plurality of leveling contacts arranged on the masonry machine, the plurality of leveling contacts are used for acquiring a plurality of -th position information of a grinding plane corresponding to the bottom elevation of the wall to be built and sending the position information to the processing unit, the processing unit is further used for receiving the plurality of -th position information, fitting an XY plane of the real space coordinate system according to the plurality of -th position information and a least square method, and enabling the XY plane of the real space coordinate system to correspond to the XY plane of the three-dimensional model, and the XY plane corresponds to the grinding plane.
, the acquisition unit comprises a th position sensor and a second position sensor which are arranged on a th upright post surface, a connecting line between the th position sensor and the second position sensor is not parallel to the Z direction, the th position sensor and the second position sensor are used for acquiring second position information of the th upright post surface and sending the second position information to the processing unit, and the processing unit is further used for receiving the second position information, constructing an XZ plane of a real space coordinate system according to the second position information, and enabling the XZ plane of the real space coordinate system to be correspondingly superposed with a th virtual upright post surface in the three-dimensional model.
, the acquisition unit comprises a third position sensor arranged on the second upright post surface, the third position sensor is used for acquiring third position information of a corresponding position point on the second upright post surface and sending the third position information to the processing unit, and the processing unit is also used for receiving the third position information, constructing a YZ plane of a real space coordinate system according to the third position information and correspondingly overlapping the YZ plane of the real space coordinate system with the second virtual upright post surface in the three-dimensional model.
, the th post surface and the second post surface are not parallel to each other.
, the acquisition unit comprises a built-in position sensor arranged in the masonry machine, the built-in position sensor is used for acquiring fourth position information of the masonry machine in a real space and sending the fourth position information to the processing unit, the processing unit is used for receiving the fourth position information, determining a virtual position of the masonry machine in a real space coordinate system corresponding to a coordinate system of the three-dimensional model, and analyzing the walking direction and the walking distance of the masonry machine according to the virtual position.
According to another aspect of the invention, there is also provided automatic masonry units including a masonry machine and a positioning system as described above.
The invention collects the real space position information through the collection unit, utilizes the processing unit to construct a real space coordinate system and corresponds the real space coordinate system with the coordinate system of the three-dimensional model, analyzes the position and the related parameters of the wall body to be built in the corresponding real space coordinate system, and analyzes the walking direction and the distance of the building machine facing the wall body to be built in the real space according to the position of the building machine in the corresponding real space coordinate system.
In addition to the objects, features and advantages described above, the present invention will be described in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which form a part hereof , are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description, serve to explain the invention and not to limit the invention.
Fig. 1 is a block diagram of a positioning system of an automatic masonry apparatus according to a preferred embodiment of the present invention;
fig. 2 is a schematic view of a positioning system, a wall body to be built and a vertical cylindrical surface of the automatic masonry apparatus according to the preferred embodiment of the present invention;
FIG. 3 is a schematic view of the Z-axis direction and XY plane of the real space coordinate system constructed by the positioning system of the automatic masonry apparatus according to the preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of the positioning system of the automatic masonry unit of the preferred embodiment of the present invention constructing the XZ plane of the real space coordinate system;
fig. 5 is a schematic view of YZ-planes of a real space coordinate system constructed by a positioning system of the automatic masonry apparatus according to the preferred embodiment of the present invention.
The reference numbers illustrate:
100. the building device comprises a collecting unit, a processing unit, a storage unit, a to-be-built wall body 1, a building machine 2, a leveling contact 3, a polishing plane 4, a polishing plane 5, a th vertical column surface 6, a th position sensor 7, a second position sensor 8, a second vertical column surface 9 and a third position sensor.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1 and 2, a preferred embodiment of the present invention provides a positioning system of kinds of automatic masonry apparatuses, including an acquisition unit 100 for acquiring real space position information, a processing unit 200 for receiving the position information acquired by the acquisition unit 100, and a storage unit 300 for storing a pre-designed three-dimensional model, the processing unit 200 is configured to construct a real space coordinate system according to the position information, and to correspond the real space coordinate system to a coordinate system of the three-dimensional model, and to analyze a position and related parameters of a to-be-built wall body 1 in the corresponding real space coordinate system, and to analyze a walking direction and distance of the to-be-built wall body 1 in the real space by a position of the masonry machine 2 in the corresponding real space coordinate system, the present invention acquires the real space position information through the acquisition unit 100, constructs the real space coordinate system by using the processing unit 200 and corresponds to the coordinate system of the three-dimensional model, and analyzes the real space coordinate system in the corresponding real space coordinate system to analyze the to obtain the position and related parameters of the to-be-built wall body 1, and to analyze the to obtain a position and related parameters of the to-be-built wall body 2 in the corresponding real space coordinate system, and to realize a more accurate positioning of the to-building construction site construction.
In the present invention, the processing unit 200 is a processor built in the masonry machine 2.
The three-dimensional model comprises a virtual ground and a vertical column, an th virtual vertical column surface, a second virtual vertical column surface and a virtual wall body to be built, and relevant parameters of the wall body to be built 1 comprise the length, the width, the height and the position of the wall body to be built 1.
, the collecting unit 100 includes a gyroscope for collecting Z-direction information corresponding to the gravity direction and sending the Z-direction information to the processing unit 200, and the processing unit 200 is configured to receive the Z-direction information, and to correspond the Z-axis direction of the real space coordinate system to the Z-direction of the three-dimensional model according to the Z-direction information.
, the acquisition unit 100 comprises a leveling contact 3 movably arranged on the masonry machine 2, the leveling contact 3 is used for acquiring th position information of a grinding plane 4 corresponding to the bottom elevation of the wall body 1 to be built and sending the position information to the processing unit 200, and the processing unit 200 is further used for receiving th position information, constructing an XY plane of a real space coordinate system according to the th position information, enabling the XY plane of the real space coordinate system to correspond to the XY plane of the three-dimensional model, and enabling the XY plane to correspond to the grinding plane 4.
Optionally, the acquisition unit 100 comprises a plurality of leveling contacts 3 arranged on the masonry machine 2, the plurality of leveling contacts 3 are used for acquiring a plurality of -th position information of the grinding plane 4 corresponding to the bottom elevation of the wall body 1 to be built and sending the position information to the processing unit 200, the processing unit 200 is further used for receiving a plurality of -th position information, fitting an XY plane of a real space coordinate system according to the plurality of -th position information by combining a least square method, and enabling the XY plane of the real space coordinate system to correspond to the XY plane of the three-dimensional model, and the XY plane corresponds to the grinding plane 4.
, the collecting unit 100 includes a position sensor 6 and a second position sensor 7 which are arranged on the th vertical column surface 5, a connecting line between the th position sensor 6 and the second position sensor 7 is not parallel to the Z direction, the th position sensor 6 and the second position sensor 7 are used for collecting second position information of the th vertical column surface 5 and sending the second position information to the processing unit 200, the processing unit 200 is further used for receiving the second position information, constructing an XZ plane of a real space coordinate system according to the second position information, and correspondingly coinciding the XZ plane of the real space coordinate system with a th virtual column surface in the three-dimensional model, specifically, in the preferred embodiment, the th position sensor 6 and the second position sensor 7 are located on the same horizontal line.
, the collecting unit 100 includes a third position sensor 9 disposed on the second vertical cylindrical surface 8, the third position sensor 9 is configured to collect third position information of a corresponding position point on the second vertical cylindrical surface 8 and send the third position information to the processing unit 200, and the processing unit 200 is further configured to receive the third position information, construct a YZ plane of the real space coordinate system according to the third position information, and correspondingly coincide the YZ plane of the real space coordinate system with the second virtual vertical column surface in the three-dimensional model.
, the collecting unit 100 includes a built-in position sensor built in the masonry machine 2, the built-in position sensor is used for collecting fourth position information of the masonry machine 2 in the real space and sending the fourth position information to the processing unit 200, the processing unit 200 is used for receiving the fourth position information, determining a virtual position of the masonry machine 2 in a real space coordinate system corresponding to the coordinate system of the three-dimensional model, and analyzing the walking direction and distance of the masonry machine 2 according to the virtual position.
, the vertical cylindrical surface 5 and the second vertical cylindrical surface 8 are not parallel to each other, in the preferred embodiment, the wall 1 to be built is located between two vertical columns, and in order to construct a real coordinate system, the position sensor 6 and the second position sensor 7 are arranged on the vertical cylindrical surface 5 of vertical columns, and the third position sensor 9 is arranged on the second vertical cylindrical surface 8 of the other vertical columns.
According to another aspect of the invention, there is also provided automatic masonry units including a masonry machine 2 and a positioning system as described above.
Referring to fig. 2 to 5 (solid lines in fig. 3 to 5 indicate the ground and the columns in real space, and dotted lines indicate the ground and the columns in a three-dimensional model), the positioning system using the automatic masonry apparatus of the present invention specifically performs the following positioning process:
and importing a pre-designed three-dimensional model into a storage unit 300 of the automatic building device, wherein the three-dimensional model comprises an th virtual vertical cylindrical surface, a second virtual vertical cylindrical surface and a virtual wall to be built.
As shown in figure 2, grinding planes 4 which are consistent with the bottom elevation of a wall body are ground on the floor of a room to be constructed, a leveling contact 3 of a masonry machine 2 is placed on the grinding planes 4, a Z direction which is consistent with a gravity direction is determined by a gyroscope and corresponds to the Z direction in a three-dimensional model, and the grinding planes 4 correspond to an XY plane in the three-dimensional model, so that the freedom degree of displacement of a real space coordinate system along the Z direction and the freedom degree of rotation around the X direction can be limited, and the freedom degree of rotation around the Y direction is limited, as shown in figure 3.
The position sensor 6 and the second position sensor 7 are arranged on the th vertical column surface 5 parallel to the wall body 1 to be built (the two sensors cannot be placed on the same vertical line), the corresponding th virtual vertical column surface in the three-dimensional model is overlapped with the positions of the th position sensor 6 and the second position sensor 7, and the degree of freedom of displacement of the real space coordinate system along the Y direction and the degree of freedom of rotation around the Z direction can be limited, as shown in figure 4.
third position sensors 9 are arranged on a second vertical cylindrical surface 8 intersected with the wall body 1 to be built, and the second virtual vertical cylindrical surface in the three-dimensional model is superposed with the third position sensors 9, so that the degree of freedom of the position of the real space coordinate system along the X direction can be limited, up to this point, six degrees of freedom of the real space coordinate system are completely limited, and the six degrees of freedom can be completely superposed with the vertical columns and the ground in the three-dimensional model, as shown in figure 5.
After the real space coordinate system corresponds to the coordinate system in the three-dimensional model, the position of the wall body to be built 1 in the real space can be obtained through mapping the position of the virtual wall body to be built in the three-dimensional model, and similarly, the relevant parameters of the wall body to be built in the real space can be obtained through mapping the relevant parameters of the virtual wall body to be built in the three-dimensional model. Meanwhile, the system can obtain the position of the masonry machine 2 in the real space through a built-in position sensor of the masonry machine 2. The processing unit 200 determines the virtual position of the masonry machine 2 in the corresponding real space coordinate system, and analyzes the walking direction and distance of the masonry machine 2 according to the virtual position, so that the masonry machine 2 is automatically controlled to automatically walk to the position of the wall body 1 to be built in a universal wheel mode and the like according to the walking direction and distance determined in the real coordinate system, and automation and intellectualization of wall body masonry are realized.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
- The positioning system of the automatic masonry device is characterized by comprising a collecting unit (100) for collecting real space position information, a processing unit (200) for receiving the position information collected by the collecting unit (100), and a storage unit (300) for storing a pre-designed three-dimensional model, wherein the processing unit (200) is used for constructing a real space coordinate system according to the position information, enabling the real space coordinate system to correspond to a coordinate system of the three-dimensional model, analyzing the position and related parameters of a wall body (1) to be masonry in the corresponding real space coordinate system, and analyzing the orientation of a masonry machine (2) in real space by the position of the masonry machine (2) in the corresponding real space coordinate systemThe walking direction and distance of the wall body (1) to be built;the acquisition unit (100) comprises a gyroscope, the gyroscope is used for acquiring Z-direction information caused by the gravity direction and sending the Z-direction information to the processing unit (200), the processing unit (200) is used for receiving the Z-direction information, constructing the Z-axis direction of the real space coordinate system according to the Z-direction information and enabling the Z-axis direction of the real space coordinate system to correspond to the Z direction of the three-dimensional model;the acquisition unit (100) comprises a leveling contact (3) movably arranged on the masonry machine (2), the leveling contact (3) is used for acquiring -th position information of a grinding plane (4) corresponding to the bottom elevation of the wall body (1) to be built and sending the -th position information to the processing unit (200), the processing unit (200) is further used for receiving the -th position information, constructing an XY plane of the real space coordinate system according to the -th position information, and enabling the XY plane of the real space coordinate system to correspond to the XY plane of the three-dimensional model, and the XY plane corresponds to the grinding plane (4).
- 2. The positioning system of an automatic masonry unit according to claim 1, characterized in that the acquisition unit (100) comprises a plurality of leveling contacts (3) arranged on the masonry machine (2), the plurality of leveling contacts (3) are used for acquiring a plurality of position information of a grinding plane (4) corresponding to a bottom elevation of the wall body (1) to be masonry and sending the position information to the processing unit (200), the processing unit (200) is further used for receiving a plurality of position information, fitting an XY plane of the real space coordinate system according to a plurality of position information by combining a least square method, and corresponding the XY plane of the real space coordinate system to an XY plane of the three-dimensional model, and the XY plane corresponds to the grinding plane (4).
- 3. The positioning system of the automatic masonry unit according to claim 2, characterized in that the acquisition unit (100) comprises a position sensor (6) and a second position sensor (7) which are arranged on a th upright surface (5), a connecting line between the position sensor (6) and the second position sensor (7) is not parallel to the Z direction, the position sensor (6) and the second position sensor (7) are used for acquiring second position information of the th upright surface (5) and sending the second position information to the processing unit (200), and the processing unit (200) is further used for receiving the second position information, constructing an XZ plane of the real space coordinate system according to the second position information, and correspondingly coinciding the XZ plane of the real space coordinate system with a th virtual upright surface in the three-dimensional model.
- 4. The positioning system of the automatic masonry unit according to claim 3, characterized in that the acquisition unit (100) comprises a third position sensor (9) arranged on the second vertical cylinder (8), the third position sensor (9) being configured to acquire third position information of a corresponding position point on the second vertical cylinder (8) and send the third position information to the processing unit (200); the processing unit (200) is further configured to receive the third position information, construct a YZ plane of the real space coordinate system according to the third position information, and correspondingly coincide the YZ plane of the real space coordinate system with a second virtual upright in the three-dimensional model.
- 5. A positioning system for an automatic masonry unit according to claim 4 wherein said th upright surface (5) and said second upright surface (8) are not parallel to each other.
- 6. A positioning system for an automatic laying device according to claim 4, characterized in that said acquisition unit (100) comprises a built-in position sensor built into the laying machine (2) for acquiring a fourth position information of the laying machine (2) in real space and sending it to said processing unit (200), said processing unit (200) being adapted to receive said fourth position information and determine a virtual position of the laying machine (2) in said real space coordinate system corresponding to the coordinate system of said three-dimensional model, and to analyze the walking direction and distance of the laying machine (2) according to said virtual position.
- An automatic masonry unit of the kind 7, , comprising a masonry machine (2) and a positioning system according to any of claims 1 to 6, .
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| AU2017294795B2 (en) | 2016-07-15 | 2019-06-13 | Fastbrick Ip Pty Ltd | Boom for material transport |
| AU2017294796B2 (en) | 2016-07-15 | 2019-05-30 | Fastbrick Ip Pty Ltd | Brick/block laying machine incorporated in a vehicle |
| AU2018295572B2 (en) | 2017-07-05 | 2022-09-29 | Fastbrick Ip Pty Ltd | Real time position and orientation tracker |
| CN111213098B (en) | 2017-08-17 | 2024-03-15 | 快砖知识产权私人有限公司 | Communication system for interactive system |
| US11401115B2 (en) | 2017-10-11 | 2022-08-02 | Fastbrick Ip Pty Ltd | Machine for conveying objects and multi-bay carousel for use therewith |
| CN110960843A (en) * | 2019-12-23 | 2020-04-07 | 天水师范学院 | Basketball skill auxiliary training system |
| CN111456279A (en) * | 2020-04-08 | 2020-07-28 | 广东博智林机器人有限公司 | Brick wall building method and device, computer equipment and storage medium |
| CN113914642A (en) * | 2021-11-15 | 2022-01-11 | 河南方元建筑工程有限公司 | Building wall device based on BIM technology |
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| KR101389244B1 (en) * | 2013-04-18 | 2014-04-24 | 재단법인대구경북과학기술원 | Robot for managing of structure and method controling thereof |
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| CN105930600A (en) * | 2016-04-28 | 2016-09-07 | 广联达软件股份有限公司 | Masonry configuration method and masonry configuration system |
| CN107083845A (en) * | 2017-06-22 | 2017-08-22 | 厦门华蔚物联网科技有限公司 | A kind of automatic wall-building method and automatic wall-building system |
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