CN108590126B - Wall intelligence system of plastering - Google Patents
Wall intelligence system of plastering Download PDFInfo
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- CN108590126B CN108590126B CN201810393406.9A CN201810393406A CN108590126B CN 108590126 B CN108590126 B CN 108590126B CN 201810393406 A CN201810393406 A CN 201810393406A CN 108590126 B CN108590126 B CN 108590126B
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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 invention relates to an intelligent plastering system for a wall surface, which comprises: the plastering device comprises an image collector, an ultrasonic sensor, a central controller and a plastering mechanism; the system collects the image of the whole brick wall through an image collector, matches and obtains a whole wall smearing strategy by taking collected wall surface characteristic data as an analysis basis, and controls a plastering mechanism to automatically execute the strategy; meanwhile, the plastering mechanism can be further controlled to repair the area when the automatic quality inspection is carried out on the plastered wall surface by the system, and the plastering mechanism does not need to participate in plastering operation any more if the quality problem area is detected, so that the labor force and the construction cost are reduced, the construction error caused by human factors is reduced, and the full-automatic intelligent control function of plastering operation is realized; in addition, the system can be used for various construction modes including materials such as sand lime, cement ash, dry powder mortar and foaming mortar, and is wide in application range.
Description
Technical Field
The invention relates to the technical field of building equipment, in particular to an intelligent wall plastering system.
Background
In building construction, plastering of brick wall surface is a treatment process of wall surface treatment, and refers to a surface layer project of plastering cement mortar, mixed mortar and lime mortar on the wall surface. The wall plastering effect has two: the wall body has a protection function, protects the wall body from being affected with damp, weathered and insulated, and improves the durability of the wall body; and secondly, the function of beautifying is realized, the indoor sanitary condition is improved, the environment is purified, and the indoor comfort level is improved.
The existing wall plastering has two modes of manual plastering and mechanical equipment plastering, the cost of manual plastering is high, the labor intensity is high, the plastering quality can not be ensured necessarily, and the efficiency is low; with the improvement of the industrial automation degree, the mechanical plastering machine is used for indoor decoration of large-scale places at present, but still has several problems:
1. the construction method can not be separated from the field manual monitoring and assistance, and the construction process and the quality need manual real-time supervision.
2. The corner part and the beam corner column part cannot be fully plastered, and after the mechanical operation is finished, the operation needs to be completed again manually.
3. Under the condition of mechanical plastering operation, the blanking condition of materials is serious, and the fallen materials need to be manually recycled after the machine is finished.
4. The plastering mechanism is arranged on a fixed frame, completes the operation vertically and vertically, has a single path, and cannot be repaired in time if quality problems occur in the construction process.
5. The method is not suitable for the operation environment with a complex structure, the equipment cannot be normally arranged, no uniform industrial standard exists, and the flatness of the plastering surface after construction is different.
In a word, the existing mechanical plastering mechanism cannot completely replace manual work, has a gap in the intelligent degree, needs manual work for inspection and repair after the mechanical plastering mechanism finishes operation, and does not solve the problem of manual labor force.
Disclosure of Invention
The invention aims to provide an intelligent wall plastering system, which completely replaces manual wall plastering action, and reduces labor force and construction cost, so as to solve the technical problems that the existing plastering equipment has low intelligent degree and still needs manual cooperation to finish plastering operation.
In order to achieve the above object, the present invention provides an intelligent plastering system for wall surface, which specifically comprises: the plastering device comprises an image collector, an ultrasonic sensor, a central controller and a plastering mechanism;
the image collector is used for collecting the image of the whole brick wall and sending the image to the central controller;
the ultrasonic sensor is used for transmitting ultrasonic signals to a plastered wall surface and sending acquired echo signals to the central controller;
the central controller extracts the characteristics of the image of the brick wall to generate characteristic data, generates a plastering mechanism execution strategy by analyzing the characteristic data, and the plastering mechanism is controlled to plaster by utilizing the plastering mechanism execution strategy, the plastering mechanism execution strategy comprises parameter setting of wall surface plastering sequence, wall surface plastering width, mortar outflow in unit time, mortar plastering speed and mortar plastering thickness, the central controller is also used for analyzing the echo signals to obtain mortar thickness information, and simultaneously comparing the mortar thickness information with a set thickness threshold value, analyzing the thickness difference value to generate a wall surface repairing strategy, controlling a plastering mechanism to carry out repairing operation by utilizing the wall surface repairing strategy, the wall surface repairing strategy comprises parameter setting of local wall surface mortar supplementing amount, local wall surface mortar reducing amount and wall surface polishing flatness;
and the signal input end of the plastering mechanism is connected with the central controller and is used for plastering mortar to the surface of the brick wall and repairing the plastered wall surface.
As a further improvement of the technical scheme, the image collector adopts a CCD camera to collect the image.
As a further improvement of the above technical solution, the central controller includes: the device comprises an image signal processing module, an acoustic signal processing module, a feature extraction module, an execution strategy matching module, an execution strategy storage module, a thickness measurement module, a thickness comparison module, a repair strategy construction module and a driving module;
the image signal processing module is used for receiving the image signal output by the image collector, processing the image signal and generating image data for the feature extraction module to identify;
the acoustic signal processing module is used for receiving echo acoustic signals output by the ultrasonic sensor, processing the echo acoustic signals and generating acoustic wave data for the thickness measuring module to identify;
the characteristic extraction module is used for extracting characteristic data of the brick wall from the image signal and sending the obtained characteristic data to the execution strategy matching module, wherein the characteristic data comprises brick surface roughness, brick surface size, brick surface gap width, wall surface contour and wall surface size;
the execution strategy matching module matches the characteristic data with the characteristic combination sequence stored in the execution strategy storage module and extracts the plastering mechanism execution strategy corresponding to the matched characteristic combination sequence, the execution strategy storage module is used for storing various characteristic combination sequences, and the characteristic combination sequence comprises brick surface roughness, brick surface size, brick surface gap width combination and a plastering mechanism execution strategy corresponding to the brick surface roughness, the brick surface size, the brick surface gap width combination;
the thickness measuring module is used for comparing the ultrasonic wave emission time with the echo time of the sound wave data and calculating to obtain mortar thickness information through a time difference value;
the thickness comparison module is used for comparing the mortar thickness information with a set thickness threshold value and sending a thickness difference value to the repair strategy construction module;
the repair strategy construction module is used for constructing and generating a wall repair strategy after analyzing the thickness difference;
the signal input end of the driving module is connected with the signal output ends of the execution strategy matching module and the repairing strategy building module, and the driving module is controlled by a plastering mechanism execution strategy and a wall repairing strategy and respectively drives a plastering mechanism to plaster and repair.
As a further improvement of the above technical solution, the image signal processing module includes: the A/D converter, the signal amplifier and the filter are used for sequentially carrying out analog-to-digital conversion, amplification and filtering processing on the image signals output by the image collector.
As a further improvement of the above technical solution, the acoustic signal processing module includes: the A/D converter, the signal amplifier and the filter are used for sequentially carrying out analog-to-digital conversion, amplification and filtering processing on the echo sound signals output by the ultrasonic sensor.
As a further improvement of the above technical solution, the plastering mechanism comprises: the device comprises a mechanical arm, a feeding hose, an annular plastering plate, a recovery box, a storage box, a feeding machine, a universal driving wheel, a distance measuring sensor and a PLC (programmable logic controller);
the storage box is used for storing mortar, the bottom of the storage box is provided with a universal driving wheel, the top of the storage box is provided with a discharge port, a feeding machine is erected above the discharge port and connected with one end of a feeding hose and used for conveying the mortar in the storage box into the feeding hose, the other end of the feeding hose is of an open structure, an annular plastering plate is arranged at the outer edge of the open structure, the mechanical arm is fixed on the outer wall of the feeding hose along the axis of the feeding hose and used for driving the feeding hose to move up and down, the recovery box is arranged on one side of the storage box, the bottom of the recovery box is an inclined plane and communicated with the storage box and used for collecting the mortar falling during plastering and sliding into the storage box through the inclined plane, the universal driving wheel is used for driving the storage box to horizontally move along the ground, and the distance measuring sensor is arranged on the outer wall of the, and be in the coplanar with open structure's terminal surface for measure the distance between brick wall and the terminal surface, and with range finding data transmission to the PLC controller, the signal input part and drive module, range finding sensor electric connection of PLC controller, its signal output part and arm, material loading machine, universal drive wheel electric connection, the operation of arm, material loading machine, universal drive wheel is controlled according to the instruction of drive module output to this PLC controller is according to the distance between received range finding data real time monitoring brick wall and the terminal surface.
As a further improvement of the technical scheme, the end face of the open structure of the feeding hose is covered with a cover plate, a plurality of nozzles distributed at equal intervals are formed in the cover plate along the central line of the cover plate, electric control valves are arranged on all the nozzles, the signal input ends of the electric control valves are connected with a PLC in parallel, and the PLC controls the electric control valves to execute opening and closing actions according to instructions output by the driving module so as to adjust the wall surface painting width and the painting area.
As a further improvement of the technical scheme, the plastering mechanism further comprises a grinding disc, the grinding disc is arranged below the open structure of the feeding hose, the signal input end of the grinding disc is connected with the PLC in parallel, the PLC controls the grinding disc to rotate according to an instruction output by the driving module, and the wall surface is ground to adjust the flatness of the wall surface.
The intelligent wall plastering system has the advantages that:
the system of the invention collects the image of the whole brick wall through the image collector, matches and obtains the whole wall smearing strategy by taking the collected wall surface characteristic data as an analysis basis, and controls the plastering mechanism to automatically execute the strategy; meanwhile, the plastering mechanism can be further controlled to repair the area when the automatic quality inspection is carried out on the plastered wall surface by the system, and the plastering mechanism does not need to participate in plastering operation any more if the quality problem area is detected, so that the labor force and the construction cost are reduced, the construction error caused by human factors is reduced, and the full-automatic intelligent control function of plastering operation is realized; in addition, the system can be used for various construction modes including materials such as sand lime, cement ash, dry powder mortar and foaming mortar, and is wide in application range.
Drawings
Fig. 1 is a schematic structural view of an intelligent wall plastering system provided by the present invention;
FIG. 2 is a schematic diagram of a central controller according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an image signal processing module according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an acoustic signal processing module provided in an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a leveling mechanism provided in an embodiment of the present invention;
fig. 6 is a schematic view of the open end structure of the feeding hose provided in the embodiment of the present invention.
Reference numerals
1. Mechanical arm 2, feeding hose 3 and annular plastering plate
4. Recovery box 5, storage box 6, material loading machine
7. Universal driving wheel 8, distance measuring sensor 9 and PLC controller
10. Cover plate 11, nozzle 12 and polishing disc
13. Brick wall 14, open structure
Detailed Description
The wall surface intelligent plastering system of the invention is described in detail with reference to the accompanying drawings and embodiments.
As shown in fig. 1, the intelligent plastering system for wall surface provided by the invention specifically comprises: the image acquisition device, ultrasonic sensor, central controller and the mechanism of plastering.
The image collector is used for collecting the image of the whole brick wall and sending the image to the central controller;
the ultrasonic sensor is used for transmitting ultrasonic signals to a plastered wall surface and sending acquired echo signals to the central controller;
the central controller extracts the characteristics of the image of the brick wall to generate characteristic data, generates a plastering mechanism execution strategy by analyzing the characteristic data, and the plastering mechanism is controlled to plaster by utilizing the plastering mechanism execution strategy, the plastering mechanism execution strategy comprises parameter setting of wall surface plastering sequence, wall surface plastering width, mortar outflow in unit time, mortar plastering speed and mortar plastering thickness, the central controller is also used for analyzing the echo signals to obtain mortar thickness information, and simultaneously comparing the mortar thickness information with a set thickness threshold value, analyzing the thickness difference value to generate a wall surface repairing strategy, controlling a plastering mechanism to carry out repairing operation by utilizing the wall surface repairing strategy, the wall surface repairing strategy comprises parameter setting of local wall surface mortar supplementing amount, local wall surface mortar reducing amount and wall surface polishing flatness;
and the signal input end of the plastering mechanism is connected with the central controller and is used for plastering mortar to the surface of the brick wall and repairing the plastered wall surface.
The system of the invention collects the image of the whole brick wall through the image collector, matches and obtains the whole wall smearing strategy by taking the collected wall surface characteristic data as an analysis basis, and controls the plastering mechanism to automatically execute the strategy. And calculating and acquiring the plastering working path according to the technical parameters of construction by combining the plastering area and the size of the plastering tool head. The system can simultaneously carry out strategy design in a construction and planning mode, an image collector monitors the construction progress, the construction progress is fed back to a central controller in the system, and the next step of operation is planned in advance by combining the current construction path. In addition, the plastered wall surface needs to be subjected to quality inspection, if an area with quality problems is detected, the plastering mechanism is controlled to repair the area, and the next operation path is planned after the repair is finished.
For the wall surface repairing treatment, the thickness and the smearing area of the smearing layer are detected by an ultrasonic sensor according to the current situation of the smearing layer of the wall surface, and the flatness of each part of the wall surface is determined according to the thickness and the smearing area. The construction effect is greatly different because the existing automatic plastering equipment does not have a uniform industrial standard; therefore, before construction, the system of the invention inputs construction standards (including indexes such as plastering thickness and wall surface flatness) into the system in a parameter form as a basis for numerical comparison. In the construction process, the detected data can be compared with the stored construction standard data, and when the difference value of the detected data exceeds a set threshold value, the system can be controlled to repair the wall surface with the quality problem. In the real-time detection process, the system can find problems in time and repair the problems in time, avoids the complex operation of carrying out secondary detection and manual repair manually after completion, reduces manual labor force, and improves the operation efficiency and quality.
In order to realize the intelligent control function of the central controller, as shown in fig. 2, the central controller in this embodiment includes: the device comprises an image signal processing module, an acoustic signal processing module, a feature extraction module, an execution strategy matching module, an execution strategy storage module, a thickness measurement module, a thickness comparison module, a repair strategy construction module and a driving module.
The image signal processing module is used for receiving the image signal output by the image collector, processing the image signal and generating image data for the feature extraction module to identify;
the acoustic signal processing module is used for receiving echo acoustic signals output by the ultrasonic sensor, processing the echo acoustic signals and generating acoustic wave data for the thickness measuring module to identify;
the characteristic extraction module is used for extracting characteristic data of the brick wall from the image signal and sending the obtained characteristic data to the execution strategy matching module, wherein the characteristic data comprises brick surface roughness, brick surface size, brick surface gap width, wall surface contour and wall surface size;
the execution strategy matching module matches the characteristic data with the characteristic combination sequence stored in the execution strategy storage module and extracts the plastering mechanism execution strategy corresponding to the matched characteristic combination sequence, the execution strategy storage module is used for storing various characteristic combination sequences, and the characteristic combination sequence comprises brick surface roughness, brick surface size, brick surface gap width combination and a plastering mechanism execution strategy corresponding to the brick surface roughness, the brick surface size, the brick surface gap width combination;
the thickness measuring module is used for comparing the ultrasonic wave emission time with the echo time of the sound wave data and calculating to obtain mortar thickness information through a time difference value;
the thickness comparison module is used for comparing the mortar thickness information with a set thickness threshold value and sending a thickness difference value to the repair strategy construction module;
the repair strategy construction module is used for constructing and generating a wall repair strategy after analyzing the thickness difference;
the signal input end of the driving module is connected with the signal output ends of the execution strategy matching module and the repairing strategy building module, and the driving module is controlled by a plastering mechanism execution strategy and a wall repairing strategy and respectively drives a plastering mechanism to plaster and repair.
In addition, as shown in fig. 2, the image collector in the system of the present invention may use a CCD camera to collect the image. The CCD is an abbreviation of a Charge Coupled Device, and is a semiconductor imaging Device, so that the CCD has the advantages of high sensitivity, strong light resistance, small distortion, small volume, long service life, vibration resistance and the like; in addition, the invention realizes image acquisition by using the CCD camera, can obtain clear images with higher resolution ratio, and provides guarantee for subsequent data analysis of the central controller.
As shown in fig. 3, the image signal processing module includes: the A/D converter, the signal amplifier and the filter are used for sequentially carrying out analog-to-digital conversion, amplification and filtering processing on the image signals output by the image collector. As shown in fig. 4, the acoustic signal processing module includes: the A/D converter, the signal amplifier and the filter are used for sequentially carrying out analog-to-digital conversion, amplification and filtering processing on the echo sound signals output by the ultrasonic sensor. The image and sound signal processing modules are provided with the filters, so that the noise interference of signals can be reduced, the detection precision of the signals can be improved, meanwhile, the accurate acquisition of data can be realized through signal amplification, and the follow-up data analysis is guaranteed.
In order to implement the wall plastering function of the plastering mechanism, as shown in fig. 5 and 6, the plastering mechanism in this embodiment includes: arm 1, feed hose 2, annular plastering plate 3, collection box 4, storage case 5, material loading machine 6, universal drive wheel 7, range finding sensor 8 and PLC controller 9.
The mortar storage box 5 is used for storing mortar, the bottom of the mortar storage box 5 is provided with a universal driving wheel 7, the top of the mortar storage box 5 is provided with a discharge port, a feeding machine 6 is erected above the discharge port, the feeding machine 6 is connected with one end of a feeding hose 2 and used for conveying the mortar in the mortar storage box 5 into the feeding hose 2, the other end of the feeding hose 2 is of an open structure 14, an annular plastering plate 3 is arranged at the outer edge of the open structure 14, a mechanical arm 1 is fixed on the outer wall of the feeding hose 2 along the axis of the feeding hose 2 and used for driving the feeding hose 2 to move up and down, a recycling box 4 is arranged on one side of the mortar storage box 5, the bottom of the recycling box 4 is an inclined plane and communicated with the mortar storage box 5, the recycling box 4 is attached to a working wall surface in the working process and used for collecting the mortar falling during plastering and sliding into, universal drive wheel 7 be used for driving storage case 5 along ground horizontal migration, 360 degrees rotations can be realized to universal drive wheel 7 that storage case 5 bottom set up, and the free movement of mechanism is plastered to the aspect, range sensor 8 set up on feed hose 2's outer wall to be in the coplanar with open structure 14's terminal surface, be used for measuring the distance between brick wall and the terminal surface, and with range data transmission to PLC controller 9, PLC controller 9's signal input part and drive module, range sensor 8 electric connection, its signal output part and arm 1, material loading machine 6, universal drive wheel 7 electric connection, the operation of this PLC controller 9 according to drive module output's instruction control arm 1, material loading machine 6, universal drive wheel 7 to according to the distance between received range data real time monitoring brick wall and the terminal surface.
As shown in fig. 5, in the present embodiment, the mechanical arm 1 is composed of three sections of arms, each section of arm has a preset movement curve, and the three sections of arms are combined together and matched with each other to complete the plastering operation. The support arms are arranged outside the feeding hose 2 and are not arranged inside the feeding hose to avoid the plastering materials from being mixed at the connecting parts of the support arms to influence the mechanical action. The plastering mechanism implements plastering operation by the mechanical arm, and the mechanical arm realizes the comprehensive plastering function of the wall surface by simulating key actions during manual labor.
As shown in fig. 6, the four sides of the discharging port are provided with the annular plastering plates 3, the material scraping action is started after the discharging action is executed, and the plastering action direction of the feeding hose 2 can be changed by the arranged annular structure, so that the scraper can be ensured to execute the material scraping action subsequently after the discharging.
The thickness of the plastering layer is determined according to the requirements of actual construction, and the distance between the plastering mechanism and the wall surface is measured by ultrasonic waves. The thickness H of the required plastering layer on the unpainted wall surface is measured by the distance measuring sensor 8, and the position of the discharge hole is determined. Likewise, the recycling box 4 of the plastering mechanism keeps the same distance H with the unpainted wall surface, so that the falling materials can be timely collected into the recycling box 4 in the construction process. The inner side of the recovery box 4 can be provided with a shifting plate structure, the bottom of the shifting plate structure inclines towards the direction of the storage box 5, and the purpose of the shifting plate structure is to smoothly collect the recovered mortar into the storage box 5 so as to be reused.
As shown in fig. 6, the end face of the open structure 14 of the feeding hose 2 is further covered with a cover plate 10, the cover plate 10 is provided with a plurality of nozzles 11 distributed at equal intervals along the central line thereof, all the nozzles 11 are provided with electric control valves, the signal input ends of the electric control valves are connected in parallel with the PLC controller 9, and the PLC controller 9 controls the electric control valves to perform opening and closing actions according to instructions output by the driving module so as to adjust the wall surface painting width and the painting area.
Based on the structure of plastering of above-mentioned structure, the mechanism of plastering in this embodiment still can include the dish of polishing 12, the dish of polishing 12 set up in the below of the uncovered structure 14 of feed hose 2, the signal input part of this dish of polishing 12 is parallelly connected with PLC controller 9, PLC controller 9 rotate according to the instruction control dish of polishing 12 of drive module output, through polishing in order to adjust the wall roughness to the wall.
Taking indoor brick wall plastering as an example, the concrete implementation process of implementing wall plastering by using the system with the structure comprises the following steps:
firstly, an image collector is used for collecting an image of the whole brick wall to be plastered, and a central controller is used for extracting the characteristics of the image to obtain characteristic data including brick surface roughness, brick surface size, brick surface gap width, wall surface outline and wall surface size.
Then, obtaining a plastering mechanism execution strategy corresponding to the characteristic combination sequence by matching the characteristic data, and controlling the operation of each component of the plastering mechanism according to the strategy; specifically, a wall surface smearing sequence strategy is executed by driving the operation of the mechanical arm and the universal driving wheel, a wall surface smearing width strategy is executed by driving the opening and closing actions of the electric control valves of the nozzles, a mortar outflow strategy in unit time is executed by controlling the output power of the feeding machine, a mortar smearing speed strategy is executed by adjusting the motion curve of the mechanical arm, the displacement of the universal driving wheel is controlled by monitoring the distance of the distance measuring sensor, and a mortar smearing thickness strategy is executed.
Secondly, after the plastering operation is finished, detecting and obtaining mortar thickness information of each part of the wall body by using an ultrasonic sensor, comparing the mortar thickness information with a set thickness threshold value, analyzing a thickness difference value to generate a wall surface repairing strategy, and controlling a plastering mechanism to finish local wall surface mortar supplementing, local wall surface mortar reducing and wall surface polishing operations by using the wall surface repairing strategy.
And finally, checking the thickness and the flatness of the repaired wall mortar, closing the system after the thickness and the flatness meet the acceptance criteria, and finishing the plastering operation of the current wall surface.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
1. The utility model provides a wall intelligence system of plastering which characterized in that includes: the plastering device comprises an image collector, an ultrasonic sensor, a central controller and a plastering mechanism;
the image collector is used for collecting the image of the whole brick wall and sending the image to the central controller;
the ultrasonic sensor is used for transmitting ultrasonic signals to a plastered wall surface and sending acquired echo signals to the central controller;
the central controller extracts the characteristics of the image of the brick wall to generate characteristic data, generates a plastering mechanism execution strategy by analyzing the characteristic data, and the plastering mechanism is controlled to plaster by utilizing the plastering mechanism execution strategy, the plastering mechanism execution strategy comprises parameter setting of wall surface plastering sequence, wall surface plastering width, mortar outflow in unit time, mortar plastering speed and mortar plastering thickness, the central controller is also used for analyzing the echo signals to obtain mortar thickness information, and simultaneously comparing the mortar thickness information with a set thickness threshold value, analyzing the thickness difference value to generate a wall surface repairing strategy, controlling a plastering mechanism to carry out repairing operation by utilizing the wall surface repairing strategy, the wall surface repairing strategy comprises parameter setting of local wall surface mortar supplementing amount, local wall surface mortar reducing amount and wall surface polishing flatness;
the signal input end of the plastering mechanism is connected with the central controller and is used for plastering mortar on the surface of a brick wall and repairing the plastered wall surface;
wherein, the central controller includes: the device comprises an image signal processing module, an acoustic signal processing module, a feature extraction module, an execution strategy matching module, an execution strategy storage module, a thickness measurement module, a thickness comparison module, a repair strategy construction module and a driving module;
the image signal processing module is used for receiving the image signal output by the image collector, processing the image signal and generating image data for the feature extraction module to identify;
the acoustic signal processing module is used for receiving echo acoustic signals output by the ultrasonic sensor, processing the echo acoustic signals and generating acoustic wave data for the thickness measuring module to identify;
the characteristic extraction module is used for extracting characteristic data of the brick wall from the image signal and sending the obtained characteristic data to the execution strategy matching module, wherein the characteristic data comprises brick surface roughness, brick surface size, brick surface gap width, wall surface contour and wall surface size;
the execution strategy matching module matches the characteristic data with the characteristic combination sequence stored in the execution strategy storage module and extracts the plastering mechanism execution strategy corresponding to the matched characteristic combination sequence, the execution strategy storage module is used for storing various characteristic combination sequences, and the characteristic combination sequence comprises brick surface roughness, brick surface size, brick surface gap width combination and a plastering mechanism execution strategy corresponding to the brick surface roughness, the brick surface size, the brick surface gap width combination;
the thickness measuring module is used for comparing the ultrasonic wave emission time with the echo time of the sound wave data and calculating to obtain mortar thickness information through a time difference value;
the thickness comparison module is used for comparing the mortar thickness information with a set thickness threshold value and sending a thickness difference value to the repair strategy construction module;
the repair strategy construction module is used for constructing and generating a wall repair strategy after analyzing the thickness difference;
the signal input end of the driving module is connected with the signal output ends of the execution strategy matching module and the repairing strategy building module, and the driving module is controlled by a plastering mechanism execution strategy and a wall repairing strategy and respectively drives a plastering mechanism to plaster and repair.
2. The intelligent wall plastering system of claim 1, wherein the image collector collects images by using a CCD camera.
3. A wall intelligent plastering system according to claim 1, wherein the image signal processing module comprises: the A/D converter, the signal amplifier and the filter are used for sequentially carrying out analog-to-digital conversion, amplification and filtering processing on the image signals output by the image collector.
4. A wall plastering system as claimed in claim 1, wherein the acoustic signal processing module comprises: the A/D converter, the signal amplifier and the filter are used for sequentially carrying out analog-to-digital conversion, amplification and filtering processing on the echo sound signals output by the ultrasonic sensor.
5. A wall intelligent plastering system according to claim 1, wherein the plastering mechanism comprises: the device comprises a mechanical arm (1), a feeding hose (2), an annular plastering plate (3), a recovery box (4), a storage box (5), a feeding machine (6), a universal driving wheel (7), a distance measuring sensor (8) and a PLC (programmable logic controller) (9);
the mortar storage box (5) is used for storing mortar, universal driving wheels (7) are arranged at the bottom of the mortar storage box (5), a discharge port is formed in the top of the mortar storage box, a feeding machine (6) is erected above the discharge port, the feeding machine (6) is connected with one end of a feeding hose (2) and used for conveying the mortar in the mortar storage box (5) to the feeding hose (2), the other end of the feeding hose (2) is of an open structure (14), an annular plastering plate (3) is arranged at the outer edge of the open structure (14), a mechanical arm (1) is fixed on the outer wall of the feeding hose (2) along the axis of the feeding hose (2) and used for driving the feeding hose (2) to move up and down, a recycling box (4) is arranged on one side of the mortar storage box (5), the bottom of the recycling box (4) is of an inclined plane and is communicated with the mortar storage box (5) and used for collecting the mortar falling off during plastering and sliding into the mortar storage box (5), universal drive wheel (7) be used for driving storage case (5) along ground horizontal migration, range sensor (8) set up on the outer wall of feed hose (2) to be in the coplanar with the terminal surface of open structure (14) on, be used for measuring the distance between brick wall and the terminal surface, and with range finding data transmission to PLC controller (9), the signal input part and the drive module of PLC controller (9), range sensor (8) electric connection, its signal output part and arm (1), material loading machine (6), universal drive wheel (7) electric connection, the operation of this PLC controller (9) according to instruction control arm (1) of drive module output, material loading machine (6), universal drive wheel (7) to according to the distance between received range finding data real time monitoring brick wall and the terminal surface.
6. A wall surface intelligent plastering system according to claim 5, wherein a cover plate (10) covers the end surface of the open structure (14) of the feeding hose (2), a plurality of nozzles (11) which are distributed at equal intervals are arranged on the cover plate (10) along the central line of the cover plate, all the nozzles (11) are provided with electric control valves, the signal input ends of the electric control valves are connected with the PLC (9) in parallel, and the PLC (9) controls the electric control valves to perform opening and closing actions according to instructions output by the driving module so as to adjust the wall surface plastering width and plastering area.
7. A wall surface intelligent plastering system according to claim 5, wherein the plastering mechanism further comprises a plastering disc (12), the plastering disc (12) is arranged below the opening structure (14) of the feeding hose (2), the signal input end of the plastering disc (12) is connected with the PLC (9) in parallel, the PLC (9) controls the plastering disc (12) to rotate according to the instruction output by the driving module, and the wall surface is polished to adjust the flatness of the wall surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810393406.9A CN108590126B (en) | 2018-04-27 | 2018-04-27 | Wall intelligence system of plastering |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810393406.9A CN108590126B (en) | 2018-04-27 | 2018-04-27 | Wall intelligence system of plastering |
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| CN110017012B (en) * | 2019-05-21 | 2021-05-04 | 广东博智林机器人有限公司 | Spray coating robot, control method, and computer-readable storage medium |
| CN110284692B (en) * | 2019-06-11 | 2020-12-11 | 浙江均泰建设有限公司 | Intelligent mortar smearing method |
| CN110924639B (en) * | 2019-12-12 | 2021-01-26 | 温州国盛建设有限公司 | 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 |
| CN115012620B (en) * | 2021-03-05 | 2024-01-12 | 广东博智林机器人有限公司 | Plastering device |
| CN113250241A (en) * | 2021-06-11 | 2021-08-13 | 厦门理工学院 | Method and device for intelligently building retaining wall |
| CN114370859B (en) * | 2022-01-13 | 2023-08-01 | 安徽中擎建设发展有限公司 | Laser marking construction method for plastering inner wall of building |
| 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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| CN102188311B (en) * | 2010-12-09 | 2013-07-31 | 南昌大学 | Embedded visual navigation control system and method of intelligent wheelchair |
| CN203037849U (en) * | 2012-12-31 | 2013-07-03 | 汕头市超声仪器研究所有限公司 | Ultrasonic thickness gauge |
| CN104289748B (en) * | 2014-08-22 | 2018-08-17 | 天津航天长征火箭制造有限公司 | A kind of large thin-wall covering adaptively equal wall thickness milling system and its processing method |
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