CN108590126A - A kind of metope intelligence plastoring system - Google Patents
A kind of metope intelligence plastoring system Download PDFInfo
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- CN108590126A CN108590126A CN201810393406.9A CN201810393406A CN108590126A CN 108590126 A CN108590126 A CN 108590126A CN 201810393406 A CN201810393406 A CN 201810393406A CN 108590126 A CN108590126 A CN 108590126A
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/16—Implements for after-treatment of plaster or the like before it has hardened or dried, e.g. smoothing-tools, profile trowels
Abstract
The present invention relates to a kind of metope intelligence plastoring system, which includes：Image acquisition device, ultrasonic sensor, central controller and plastering mechanism；The system acquires the image of whole face brick wall by image acquisition device, is analysis foundation with collected metope characteristic, and matching obtains whole face wall and smears strategy, and controls plastering mechanism and execute the strategy automatically；Simultaneously, automatic quality inspection is carried out by system for plastered wall face, such as detect the presence of the region of quality problems, plastering mechanism can be further controlled to repair the region, so that plastered work no longer needs worker to participate in, to reduce labour and construction cost, reduce construction error caused by human factor, that is, realizes plastered work full-automation intelligent control function；In addition, this system can be used for a variety of Construction Modes including the materials such as sand-lime, lime, concrete grey, dry powder and mortar, foaming mortar, the scope of application is wider.
Description
Technical field
The present invention relates to Architectural Equipment technical fields, and in particular to a kind of metope intelligence plastoring system.
Background technology
In construction, the plastering on brick wall surface is one for the treatment of process of metope processing, refers to that water is smeared on metope
Cement mortar, mixed mortar, lime mortar surface layer engineering.There are two the effects of wall plastering：First, having safeguard function, wall is protected
Body do not make moist, efflorescence prevention, heat-insulated, improves wall body and surveys endurance quality；Second is that beautifying functions, improve indoor sanitary condition, purification
Environment, raising occupy indoor comfort level.
Existing wall plastering has artificial plastering and mechanical equipment plastering two ways, and that manually plasters is of high cost, and
Labor intensity is big, and plastering quality not necessarily can guarantee, inefficiency；It is perfect with industrial automatization, it is mechanical at present
Mechanical float has obtained the use of some large-scale place interior decorations, but still has some problem：
1, it can not be detached from the monitoring and assistance for needing scene artificial, working procedure and quality need artificial real-time monitoring.
2, corner parts and beam corner post position cannot fully plaster, after the completion of mechanical work, it is also necessary to artificial perfect again.
3, in the case of machinery plastering operation, the blanking situation of material is more serious, and artificial return is needed after mechanical complete
Receive the material fallen.
4, plastering mechanism is mounted on fixed frame, and fulfiling assignment straight up and down, path is single, if constructing
During there are quality problems, can not repair in time.
5, be not suitable for labyrinth operating environment, equipment can not normal arrangement, ununified professional standard, after construction
Plastering surface evenness it is variant.
In short, existing machinery plastering mechanism can't substitute manually completely at present, there is gap in intelligence degree,
Machinery also needs to manually check and repair after fulfiling assignment, and does not solve artificial labour.
Invention content
It is an object of the present invention to overcome existing plastering device intelligence degree relatively low, it is still necessary to which hand fit is
The technical issues of capable of completing plastered work, provides a kind of metope intelligence plastoring system, and system of the invention is completely instead of artificial
Wall plastering action is carried out, labour and construction cost are reduced.
To achieve the above object, a kind of metope intelligence plastoring system provided by the invention, the system specifically include：Image is adopted
Storage, ultrasonic sensor, central controller and plastering mechanism；
The image acquisition device is used to acquire the image of whole face brick wall, and is sent to central controller；
The ultrasonic sensor is used for the ultrasonic signal of plastered wall surface launching, and the echo that acquisition is obtained
Signal is sent to central controller；
The central controller generates characteristic after the image of brick wall is carried out feature extraction, by characteristic
Plastering mechanism implementation strategy is generated after being analyzed, and carries out plastering behaviour using the plastering mechanism implementation strategy control plastering mechanism
Make, the plastering mechanism implementation strategy include metope smearing sequence, metope smear width, mortar discharge in the unit interval,
Mortar smoothes out speed, mortar smoothes out the parameter setting of thickness, which is additionally operable to be analyzed to obtain to echo-signal
Mortar thickness information, while mortar thickness information being compared with the thickness threshold value of setting, after analyzing thickness difference
Metope correcting strategy is generated, and controls plastering mechanism using the metope correcting strategy and carries out reparation operation, the metope reparation
Strategy includes that local metope mends slurry amount, local wall surface mortar abatement amount, the parameter setting of metope degree of polishing flat；
The signal input part of the plastering mechanism is connect with central controller, for mortar to be applied to brick wall surface, and
Plastered wall face is repaired.
As a further improvement of the above technical scheme, the image acquisition device carries out image using CCD camera
Acquisition.
As a further improvement of the above technical scheme, the central controller includes：Image signal processing blocks, sound
Signal processing module, characteristic extracting module, implementation strategy matching module, implementation strategy memory module, thickness measure module, thickness
Comparison module, correcting strategy structure module and drive module；
The image signal processing blocks be used for receive image acquisition device output picture signal, and by picture signal into
Row processing, generates the image data identified for characteristic extracting module；
The Underwater Acoustic channels module is used to receive the echo acoustical signal of ultrasonic sensor output, and echo sound is believed
It number is handled, generates the sonic data identified for thickness measure module；
The characteristic extracting module is used to extract the characteristic of brick wall in picture signal, and by the feature of acquisition
Data are sent to implementation strategy matching module, and the characteristic includes brick surface roughness, brick face size, brick face slit width
Degree, metope profile and wall size；
Characteristic is combined sequence by the implementation strategy matching module with the feature stored in implementation strategy memory module
Row are matched, and extract the plastering mechanism implementation strategy corresponding to matched feature composite sequence, the implementation strategy is deposited
For storage module for storing various feature composite sequences, the feature composite sequence includes by brick surface roughness, brick face size, brick
Face gap width combination and its corresponding plastering mechanism implementation strategy；
The thickness measure module is used to ultrasonic wave launch time being compared with the echo time of sonic data, and
It is calculated by time difference and obtains mortar thickness information；
The thickness comparison module is for mortar thickness information to be compared with the thickness threshold value of setting, and by thickness
Difference is sent to correcting strategy structure module；
The correcting strategy structure module is for after analyzing thickness difference, structure to generate metope correcting strategy；
The signal input part of the drive module and the signal of implementation strategy matching module, correcting strategy structure module export
End connection, the drive module are controlled by plastering mechanism implementation strategy and metope correcting strategy, are respectively driven plastering mechanism and are smeared
Ash and reparation operation.
As a further improvement of the above technical scheme, the image signal processing blocks include：A/D converter, letter
Number amplifier and filter, the picture signal for exporting image acquisition device carry out at analog-to-digital conversion, amplification and filtering successively
Reason.
As a further improvement of the above technical scheme, the Underwater Acoustic channels module includes：A/D converter, signal
Amplifier and filter, the echo acoustical signal for exporting ultrasonic sensor carry out analog-to-digital conversion, amplification and filtering successively
Processing.
As a further improvement of the above technical scheme, the plastering mechanism includes：Mechanical arm, dosing hose, annular
Plastering plate, recycling bins, material storing box, feeder, universal driving wheel, distance measuring sensor and PLC controller；
The material storing box is for storing mortar, and the bottom of the material storing box is provided with universal driving wheel, and top offers
Discharge port, is provided with feeder above the discharge port, and one end of the feeder and dosing hose connects, for by storing
Mortar in case is delivered in dosing hose, and the other end of the dosing hose is in uncovered structure, is set in the outer rim of uncovered structure
It is equipped with annular plastering plate, the mechanical arm is fixed on along the axis of dosing hose on dosing hose outer wall, for driving feed
Hose moves up and down, and the recycling bins are set to the side of material storing box, and the bottom of the recycling bins is in inclined-plane, and is connected with material storing box
Logical, for collecting the mortar fallen when plastering and being slid to material storing box by inclined-plane, the universal driving wheel is for driving
Material storing box is moved along ground level, and the distance measuring sensor is set on the outer wall of dosing hose, and with the end of uncovered structure
Face is in the same plane, is sent to PLC controller for measuring the distance between brick wall and end face, and by ranging data, institute
The signal input part of PLC controller is stated to be electrically connected with drive module, distance measuring sensor, signal output end and mechanical arm, on
Material machine, universal driving wheel are electrically connected, instruction control machinery arm which exports according to drive module, feeder, ten thousand
Operation to driving wheel, and the distance between brick wall and end face are monitored in real time according to the ranging data received.
As a further improvement of the above technical scheme, it is covered with cover board on the end face of the dosing hose uncovered structure,
Described its center line of cover board upper edge offers several spouts being spacedly distributed, and electrically-controlled valve is both provided on all spouts
Door, the signal input part of each electric control valve is in parallel with PLC controller, the finger that the PLC controller is exported according to drive module
It enables and controls each electric control valve execution on-off action, width and application area are smeared to adjust metope.
As a further improvement of the above technical scheme, the plastering mechanism further includes polishing pad, the polishing pad
It is set to the lower section of dosing hose uncovered structure, the signal input part of the polishing pad is in parallel with PLC controller, PLC controls
The instruction control polishing pad rotation that device processed is exported according to drive module, by polishing metope to adjust degree of plainness for wall surface.
A kind of metope intelligence plastoring system advantage of the present invention is：
The system of the present invention acquires the image of whole face brick wall by image acquisition device, is with collected metope characteristic
Foundation is analyzed, matching obtains whole face wall and smears strategy, and controls plastering mechanism and execute the strategy automatically；Meanwhile for having smeared
The metope of ash carries out automatic quality inspection by system, such as detects the presence of the region of quality problems, can further control plastering mechanism
The region is repaired so that plastered work no longer needs worker to participate in, and to reduce labour and construction cost, reduces
Construction error caused by human factor, that is, realize plastered work full-automation intelligent control function；In addition, this system can
For a variety of Construction Modes including sand-lime, lime, concrete grey, dry powder and mortar, the foaming materials such as mortar, the scope of application compared with
Extensively.
Description of the drawings
Fig. 1 is a kind of metope intelligence plastoring system structural schematic diagram provided by the invention；
Fig. 2 is the central controller structural schematic diagram provided in the embodiment of the present invention；
Fig. 3 is the image signal processing blocks structural schematic diagram provided in the embodiment of the present invention；
Fig. 4 is the Underwater Acoustic channels modular structure schematic diagram provided in the embodiment of the present invention；
Fig. 5 is the floating mechanism structural schematic diagram provided in the embodiment of the present invention；
Fig. 6 is the dosing hose open end structural schematic diagram provided in the embodiment of the present invention.
Reference numeral
1, mechanical arm 2, dosing hose 3, annular plastering plate
4, recycling bins 5, material storing box 6, feeder
7, universal driving wheel 8, distance measuring sensor 9, PLC controller
10, cover board 11, spout 12, polishing pad
13, brick wall 14, uncovered structure
Specific implementation mode
A kind of metope intelligence plastoring system of the present invention is described in detail with reference to the accompanying drawings and examples.
As shown in Figure 1, a kind of metope intelligence plastoring system provided by the invention, the system specifically include：Image acquisition device,
Ultrasonic sensor, central controller and plastering mechanism.
The image acquisition device is used to acquire the image of whole face brick wall, and is sent to central controller；
The ultrasonic sensor is used for the ultrasonic signal of plastered wall surface launching, and the echo that acquisition is obtained
Signal is sent to central controller；
The central controller generates characteristic after the image of brick wall is carried out feature extraction, by characteristic
Plastering mechanism implementation strategy is generated after being analyzed, and carries out plastering behaviour using the plastering mechanism implementation strategy control plastering mechanism
Make, the plastering mechanism implementation strategy include metope smearing sequence, metope smear width, mortar discharge in the unit interval,
Mortar smoothes out speed, mortar smoothes out the parameter setting of thickness, which is additionally operable to be analyzed to obtain to echo-signal
Mortar thickness information, while mortar thickness information being compared with the thickness threshold value of setting, after analyzing thickness difference
Metope correcting strategy is generated, and controls plastering mechanism using the metope correcting strategy and carries out reparation operation, the metope reparation
Strategy includes that local metope mends slurry amount, local wall surface mortar abatement amount, the parameter setting of metope degree of polishing flat；
The signal input part of the plastering mechanism is connect with central controller, for mortar to be applied to brick wall surface, and
Plastered wall face is repaired.
The system of the present invention acquires the image of whole face brick wall by image acquisition device, is with collected metope characteristic
Foundation is analyzed, matching obtains whole face wall and smears strategy, and controls plastering mechanism and execute the strategy automatically.The operating path of plastering
According to the technical parameter of construction, obtained in conjunction with the size of plastering region area and floater head to calculate.System simultaneously can be with
The mode planned in construction carries out tactful design, and construction speed is monitored by image acquisition device, feeds back to the center control in system
Device processed plans the operation of next step in advance in conjunction with current construction path.In addition, needing to carry out matter for plastered wall face
Inspection, such as detects the presence of the region of quality problems, can control plastering mechanism and be repaired to the region, be planned again after repairing
The working path of next step.
For metope repair process, the coat of plaster situation according to current metope is needed, is examined by ultrasonic sensor
The thickness and application area of coat of plaster are surveyed, and determines the flatness at each position of metope with this.Due to current existing automatic plastering
The ununified professional standard of equipment, leading to construction effect, there are bigger differences；For this purpose, the system of the present invention is being constructed
Before, construction reference (including the indexs such as flatness of depth of plastering, metope) can be input to parametric form in system, as number
It is worth the foundation of comparison.In the construction process, the data detected can be compared with the construction reference data of storage, when discovery data
Difference when being more than the threshold value of setting, can the current metope that quality problems occur of control system repairing.In the process detected in real time
In, system of the invention can accomplish timely repairing of pinpointing the problems in time, avoid after completing by manually carrying out secondary detection and hand
The troublesome operation of dynamic repairing, reduces artificial labour, improves operating efficiency and quality.
In order to realize the intelligent control function of above-mentioned central controller, as shown in Fig. 2, the central controller in the present embodiment
Including：Image signal processing blocks, Underwater Acoustic channels module, characteristic extracting module, implementation strategy matching module, implementation strategy are deposited
Store up module, thickness measure module, thickness comparison module, correcting strategy structure module and drive module.
The image signal processing blocks be used for receive image acquisition device output picture signal, and by picture signal into
Row processing, generates the image data identified for characteristic extracting module；
The Underwater Acoustic channels module is used to receive the echo acoustical signal of ultrasonic sensor output, and echo sound is believed
It number is handled, generates the sonic data identified for thickness measure module；
The characteristic extracting module is used to extract the characteristic of brick wall in picture signal, and by the feature of acquisition
Data are sent to implementation strategy matching module, and the characteristic includes brick surface roughness, brick face size, brick face slit width
Degree, metope profile and wall size；
Characteristic is combined sequence by the implementation strategy matching module with the feature stored in implementation strategy memory module
Row are matched, and extract the plastering mechanism implementation strategy corresponding to matched feature composite sequence, the implementation strategy is deposited
For storage module for storing various feature composite sequences, the feature composite sequence includes by brick surface roughness, brick face size, brick
Face gap width combination and its corresponding plastering mechanism implementation strategy；
The thickness measure module is used to ultrasonic wave launch time being compared with the echo time of sonic data, and
It is calculated by time difference and obtains mortar thickness information；
The thickness comparison module is for mortar thickness information to be compared with the thickness threshold value of setting, and by thickness
Difference is sent to correcting strategy structure module；
The correcting strategy structure module is for after analyzing thickness difference, structure to generate metope correcting strategy；
The signal input part of the drive module and the signal of implementation strategy matching module, correcting strategy structure module export
End connection, the drive module are controlled by plastering mechanism implementation strategy and metope correcting strategy, are respectively driven plastering mechanism and are smeared
Ash and reparation operation.
In addition, as shown in Fig. 2, CCD camera can be used in the image acquisition device in present system is acquired to image.
CCD is the abbreviation of Charge Coupled Device (charge coupling device), it is a kind of semiconductor imaging device, thus is had
There is high sensitivity, resist small, small strong light, distortion, long lifespan, anti-vibration；In addition, the present invention with CCD by taking the photograph
As head realization Image Acquisition, the higher clear image of resolution ratio can be obtained, is provided for the subsequent data analysis of central controller
It ensures.
As shown in figure 3, the image signal processing blocks include：A/D converter, signal amplifier and filter are used
Analog-to-digital conversion is carried out successively in the picture signal for exporting image acquisition device, is amplified and is filtered.As shown in figure 4, described
Underwater Acoustic channels module includes：A/D converter, signal amplifier and filter, the echo for exporting ultrasonic sensor
Acoustical signal carries out analog-to-digital conversion, amplifies and be filtered successively.The above-mentioned image of the present invention, Underwater Acoustic channels module is by setting
Filter is set, the noise jamming of signal can be reduced, improves the detection accuracy of signal, while number can be realized by signal amplification
According to precise acquisition, provide guarantee for subsequent data analysis.
In order to realize the wall plastering function of above-mentioned plastering mechanism, as shown in Figure 5,6, the plastering mechanism packet in the present embodiment
It includes：Mechanical arm 1, dosing hose 2, annular plastering plate 3, recycling bins 4, material storing box 5, feeder 6, universal driving wheel 7, ranging sensing
Device 8 and PLC controller 9.
The material storing box 5 is for storing mortar, and the bottom of the material storing box 5 is provided with universal driving wheel 7, and top opens up
There is discharge port, feeder 6 is provided with above the discharge port, the feeder 6 connect with one end of dosing hose 2, is used for
Mortar in material storing box 5 is delivered in dosing hose 2, the other end of the dosing hose 2 is in uncovered structure 14, is tied in opening
The outer rim of structure 14 is provided with annular plastering plate 3, and the mechanical arm 1 is fixed on 2 outer wall of dosing hose along the axis of dosing hose 2
On, for driving dosing hose 2 to move up and down, the recycling bins 4 are set to the side of material storing box 5, the bottom of the recycling bins 4
It is connected in inclined-plane, and with material storing box 5, recycling bins 4 are bonded work metope during the work time, for collecting the sand fallen when plastering
It starches and is slid to material storing box 5 by inclined-plane, the universal driving wheel 7 is stored up for driving material storing box 5 to be moved along ground level
The universal driving wheel 7 of 5 bottom of hopper setting can realize that 360 degree rotation, aspect plastering mechanism move freely, ranging sensing
Device 8 is set on the outer wall of dosing hose 2, and in the same plane with the end face of uncovered structure 14, for measure brick wall with
The distance between end face, and ranging data is sent to PLC controller 9, the signal input part of the PLC controller 9 and driving
Module, distance measuring sensor 8 are electrically connected, and signal output end is electrically connected with mechanical arm 1, feeder 6, universal driving wheel 7, should
The operation for the instruction control machinery arm 1, feeder 6, universal driving wheel 7 that PLC controller 9 is exported according to drive module, and according to
Ranging data real time monitoring the distance between the brick wall and end face received.
As shown in figure 5, in the present embodiment, the mechanical arm 1 is made of three sections of support arms, each section of support arm has default
Curve movement, three sections of support arms are combined together mutual cooperation, complete plastering action.Each section of support arm is in the outer of dosing hose 2
Side, it is the connecting portion for being mixed in support arm with material in order to avoid plastering to be not placed in inside, to influence mechanical action.It is above-mentioned to smear
Grey mechanism implements plastering operation with mechanical arm, which realizes the complete of metope by imitating key operations when hand labor
Smear function in face.
As shown in fig. 6, four sides of discharge port are provided with annular plastering plate 3, discharging action starts the action of scraper after executing,
Pass through the loop configuration of setting so that the plastering direction of action of dosing hose 2 howsoever changes, and has after can ensureing discharging
Scraper plate is acted in subsequent execution scraper.
The thickness of coat of plaster determines that plastering the distance between mechanism and metope take ultrasonic wave according to the requirement of practice of construction
It measures.The thickness H of required coat of plaster is measured by distance measuring sensor 8 on unrendered metope, the position of discharge port determines.
Similarly, the recycling bins 4 of the mechanism that plasters keep identical distance H with unrendered metope, in the construction process in order to and
When the material of whereabouts is received to recycling bins 4.4 inside of the recycling bins is also provided with shift plate structure, and bottom is to material storing box 5
Direction tilts, the purpose is to can successfully receive the mortar of recycling to material storing box 5, to utilize again.
As shown in fig. 6, being also covered with cover board 10, the cover board 10 on the end face of 2 uncovered structure 14 of the dosing hose
Its center line of upper edge offers several spouts 11 being spacedly distributed, and electric control valve is both provided on all spouts 11, respectively
The signal input part of electric control valve is in parallel with PLC controller 9, the instruction control that the PLC controller 9 is exported according to drive module
It makes each electric control valve and executes on-off action, width and application area are smeared to adjust metope.
Plastering structure based on above structure, the plastering mechanism in the present embodiment may also include polishing pad 12, and described beats
Mill 12 is set to the lower section of 2 uncovered structure 14 of dosing hose, and the signal input part of the polishing pad 12 is in parallel with PLC controller 9,
The instruction control polishing pad 12 that the PLC controller 9 is exported according to drive module rotates, by polishing metope to adjust wall
Surface evenness.
Below by taking indoor Brick wall plasterer as an example, implement the specific implementation process of wall plastering using the system of above structure
For：
First, using image acquisition device acquire the whole face brick wall to be plastered image, using central controller to image into
After row feature extraction, obtain including brick surface roughness, brick face size, brick face gap width, metope profile and wall size
Characteristic.
Then, the plastering mechanism implementation strategy obtained corresponding to feature composite sequence is matched with above-mentioned characteristic, and pressed
The operation of each component of policy control plastering mechanism；Specifically, by driving the operation of mechanical arm and universal driving wheel, wall is executed
Order policies are smeared in face, by driving the electric control valve on-off action of each spout, are executed metope and are smeared width strategy, pass through control
The output power of feeder, mortar discharge strategy in executable unit's time execute sand by the curve movement of adjusting mechanical arm
Slurry smoothes out speed strategy, by the displacement apart from the universal driving wheel of monitoring and controlling of distance measuring sensor, executes mortar and smoothes out thickness
Strategy.
Secondly, after the completion of above-mentioned plastering operates, the mortar thickness for obtaining each position of wall is detected using ultrasonic sensor
Information is spent, while mortar thickness information being compared with the thickness threshold value of setting, wall is generated after analyzing thickness difference
Face correcting strategy, and the local metope benefit slurry of metope correcting strategy control plastering mechanism completion, local wall surface mortar is utilized to cut down,
Metope sanding operation.
Finally, check that thickness and flatness that the wall mortar after repairing is smeared close system after meeting acceptance criteria
System so far completes the plastering operation of current metope.
It should be noted last that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting.Although ginseng
It is described the invention in detail according to embodiment, it will be understood by those of ordinary skill in the art that, to the technical side of the present invention
Case is modified or replaced equivalently, and without departure from the spirit and scope of technical solution of the present invention, should all be covered in the present invention
Right in.
Claims (8)
1. a kind of metope intelligence plastoring system, which is characterized in that including：Image acquisition device, ultrasonic sensor, central controller
With plastering mechanism；
The image acquisition device is used to acquire the image of whole face brick wall, and is sent to central controller；
The ultrasonic sensor is used for the ultrasonic signal of plastered wall surface launching, and the echo-signal that acquisition is obtained
It is sent to central controller；
The central controller generates characteristic after the image of brick wall is carried out feature extraction, by being carried out to characteristic
Plastering mechanism implementation strategy is generated after analysis, and carries out plastering operation using the plastering mechanism implementation strategy control plastering mechanism,
The plastering mechanism implementation strategy includes metope smearing sequence, metope smearing width, mortar discharge, mortar in the unit interval
Speed, the parameter setting of mortar floating thickness are smoothed out, which is additionally operable to be analyzed echo-signal to obtain mortar
Thickness information, while mortar thickness information being compared with the thickness threshold value of setting, it is generated after analyzing thickness difference
Metope correcting strategy, and control plastering mechanism using the metope correcting strategy and carry out reparation operation, the metope correcting strategy
Slurry amount, local wall surface mortar abatement amount, the parameter setting of metope degree of polishing flat are mended including local metope；
The signal input part of the plastering mechanism is connect with central controller, for mortar to be applied to brick wall surface, and to
It is repaired in plastered wall face.
2. metope intelligence plastoring system according to claim 1, which is characterized in that the image acquisition device uses CCD
Camera is acquired image.
3. metope intelligence plastoring system according to claim 1, which is characterized in that the central controller includes：Figure
As signal processing module, Underwater Acoustic channels module, characteristic extracting module, implementation strategy matching module, implementation strategy memory module,
Thickness measure module, thickness comparison module, correcting strategy structure module and drive module；
The image signal processing blocks are used to receive the picture signal of image acquisition device output, and will be at picture signal
Reason generates the image data identified for characteristic extracting module；
The Underwater Acoustic channels module be used for receive ultrasonic sensor output echo acoustical signal, and by echo acoustical signal into
Row processing, generates the sonic data identified for thickness measure module；
The characteristic extracting module is used to extract the characteristic of brick wall in picture signal, and by the characteristic of acquisition
It is sent to implementation strategy matching module, the characteristic includes brick surface roughness, brick face size, brick face gap width, wall
Facial contour and wall size；
The implementation strategy matching module by the feature composite sequence stored in characteristic and implementation strategy memory module into
Row matching, extracts the plastering mechanism implementation strategy corresponding to matched feature composite sequence, and the implementation strategy stores mould
Block includes by brick surface roughness, brick face size, brick face seam for storing various feature composite sequences, the feature composite sequence
Gap width combines and its corresponding plastering mechanism implementation strategy；
The thickness measure module passes through for ultrasonic wave launch time to be compared with the echo time of sonic data
Time difference, which calculates, obtains mortar thickness information；
The thickness comparison module is for mortar thickness information to be compared with the thickness threshold value of setting, and by thickness difference
It is sent to correcting strategy structure module；
The correcting strategy structure module is for after analyzing thickness difference, structure to generate metope correcting strategy；
The signal input part of the drive module and the signal output end of implementation strategy matching module, correcting strategy structure module connect
Connect, the drive module by plastering mechanism implementation strategy and metope correcting strategy control, respectively drive plastering mechanism carry out plastering and
Repair operation.
4. metope intelligence plastoring system according to claim 3, which is characterized in that the image signal processing blocks packet
It includes：A/D converter, signal amplifier and filter, the picture signal for exporting image acquisition device carry out modulus and turn successively
It changes, amplify and is filtered.
5. metope intelligence plastoring system according to claim 3, which is characterized in that the Underwater Acoustic channels module packet
It includes：A/D converter, signal amplifier and filter, the echo acoustical signal for exporting ultrasonic sensor carry out mould successively
Number conversion is amplified and is filtered.
6. metope intelligence plastoring system according to claim 1, which is characterized in that the plastering mechanism includes：Machinery
Arm (1), dosing hose (2), annular plastering plate (3), recycling bins (4), material storing box (5), feeder (6), universal driving wheel (7),
Distance measuring sensor (8) and PLC controller (9)；
The material storing box (5) is for storing mortar, and the bottom of the material storing box (5) is provided with universal driving wheel (7), and top is opened
Equipped with discharge port, feeder (6) is provided with above the discharge port, the feeder (6) and one end of dosing hose (2) connect
It connects, for the mortar in material storing box (5) to be delivered in dosing hose (2), the other end of the dosing hose (2) is tied in open
Structure (14) is provided with annular plastering plate (3) in the outer rim of uncovered structure (14), and the mechanical arm (1) is along dosing hose (2)
Axis is fixed on dosing hose (2) outer wall, and for driving dosing hose (2) to move up and down, the recycling bins (4) are set to
The bottom of the side of material storing box (5), the recycling bins (4) is in inclined-plane, and is connected to material storing box (5), is fallen when plastering for collecting
Mortar and slid in material storing box (5) by inclined-plane, the universal driving wheel (7) is for driving material storing box (5) along ground
Move horizontally, the distance measuring sensor (8) is set on the outer wall of dosing hose (2), and with the end face of uncovered structure (14)
It is in the same plane, it is sent to PLC controller (9), institute for measuring the distance between brick wall and end face, and by ranging data
The signal input part and drive module, distance measuring sensor (8) for stating PLC controller (9) are electrically connected, signal output end and machinery
Arm (1), feeder (6), universal driving wheel (7) are electrically connected, the instruction control which exports according to drive module
The operation of mechanical arm (1), feeder (6), universal driving wheel (7) processed, and brick wall is monitored in real time according to the ranging data received
The distance between end face.
7. metope intelligence plastoring system according to claim 6, which is characterized in that dosing hose (2) uncovered structure
(14) cover board (10) is covered on end face, its center line of the cover board (10) upper edge offers what several were spacedly distributed
Spout (11) is both provided with electric control valve, the signal input part and PLC controller of each electric control valve on all spouts (11)
(9) in parallel, the PLC controller (9) controls each electric control valve according to the instruction that drive module exports and executes on-off action, with
It adjusts metope and smears width and application area.
8. metope intelligence plastoring system according to claim 6, which is characterized in that the plastering mechanism further includes polishing
Disk (12), the polishing pad (12) are set to the lower section of dosing hose (2) uncovered structure (14), the signal of the polishing pad (12)
Input terminal is in parallel with PLC controller (9), and the PLC controller (9) controls polishing pad according to the instruction that drive module exports
(12) it rotates, by polishing metope to adjust degree of plainness for wall surface.
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| CN201810393406.9A CN108590126B (en) | 2018-04-27 | 2018-04-27 | Wall intelligence system of plastering |
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| CN110017012A (en) * | 2019-05-21 | 2019-07-16 | 广东博智林机器人有限公司 | Spray robot, control method and computer readable storage medium |
| CN110284692A (en) * | 2019-06-11 | 2019-09-27 | 韩秀良 | A kind of intelligence mortar smearing method |
| CN110924639A (en) * | 2019-12-12 | 2020-03-27 | 赵冬领 | House construction is with indoor automatic mechanism of plastering |
| CN112411892A (en) * | 2020-11-10 | 2021-02-26 | 湖北福泰建筑装饰工程有限公司 | Bare top decoration structure of steel structure building and elastic coating construction method |
| CN113250241A (en) * | 2021-06-11 | 2021-08-13 | 厦门理工学院 | Method and device for intelligently building retaining wall |
| CN114370859A (en) * | 2022-01-13 | 2022-04-19 | 安徽中擎建设发展有限公司 | Laser marking method for plastering inner wall of building |
| CN114633255A (en) * | 2022-03-03 | 2022-06-17 | 广东博智林机器人有限公司 | Mortar spraying and scraping control method and device, computer equipment and storage medium |
| CN115012620A (en) * | 2021-03-05 | 2022-09-06 | 广东博智林机器人有限公司 | Plastering equipment |
| CN116257000A (en) * | 2023-01-09 | 2023-06-13 | 中建八局第二建设有限公司 | Remote control system of intelligent plastering machine based on Internet |
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| CN114633255A (en) * | 2022-03-03 | 2022-06-17 | 广东博智林机器人有限公司 | Mortar spraying and scraping control method and device, computer equipment and storage medium |
| CN114633255B (en) * | 2022-03-03 | 2024-01-16 | 广东博智林机器人有限公司 | Mortar spraying and scraping control method and device, computer equipment and storage medium |
| CN116257000A (en) * | 2023-01-09 | 2023-06-13 | 中建八局第二建设有限公司 | Remote control system of intelligent plastering machine based on Internet |
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