CN112267696A - Wall building control method and control system - Google Patents
Wall building control method and control system Download PDFInfo
- Publication number
- CN112267696A CN112267696A CN202011068288.8A CN202011068288A CN112267696A CN 112267696 A CN112267696 A CN 112267696A CN 202011068288 A CN202011068288 A CN 202011068288A CN 112267696 A CN112267696 A CN 112267696A
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- China
- Prior art keywords
- brick
- mortar
- wall
- built
- laid
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
Abstract
The invention discloses a wall building control method, which comprises a wall building robot and a mortar plastering device, and is characterized in that: the method comprises the following steps: s1, judging whether the mortar plastering device is positioned on the wall to be built, if so, carrying out the next step; s2, judging whether the position of the mortar plastering device is positioned at the brick placement position to be laid, if so, controlling the mortar plastering device to move to expose the brick placement position to be laid; s3, controlling the mechanical arm of the robot to move so as to carry the image acquisition device to shoot images to acquire a brick taking position and a brick placing position to be laid; according to the invention, the mortar coating device and the stacking device are separated, and in the process of controlling the clamping device to clamp bricks by the mechanical arm, the mortar coating device synchronously operates to coat a vertical mortar joint and a horizontal mortar joint, so that the mechanical arm can be directly placed in a brick placing position after clamping bricks, the stacking device and the mortar coating device synchronously operate, the wall building time is reduced, the mortar coating device is separated from the mechanical arm, and the mechanical arm only needs to perform brick stacking operation, so that the action flow of the tail end of the mechanical arm is simplified.
Description
Technical Field
The invention relates to the technical field of building equipment, in particular to a wall building control method and a wall building control system.
Background
The existing wall building robot can only assist workers in carrying bricks, specifically fetch and place the bricks, and still can clamp the bricks through a manual control wall building robot, and then the control wall building robot moves the bricks to a wall to be built to place the bricks, so that the manual control of participating in the wall building robot is required, and the bricks are placed in different rows to cause poor wall quality.
Disclosure of Invention
The invention aims to overcome the technical defects, provides a wall building control method and a wall building control system, and solves the technical problems that in the prior art, the existing wall building robot can only assist workers in carrying bricks, specifically, the bricks can be taken and placed, or the wall building robot can only be manually controlled to clamp the bricks, and then the wall building robot is controlled to move the bricks to a wall to be built to place the bricks down, and manual operation and control are needed.
A wall building control method comprises a wall building robot and a mortar plastering device, and comprises the following steps:
s1, judging whether the mortar plastering device is positioned on the wall to be built, if so, carrying out the next step;
s2, judging whether the position of the mortar plastering device is positioned at the brick placement position to be laid, if so, controlling the mortar plastering device to move to expose the brick placement position to be laid;
s3, controlling the mechanical arm of the robot to move so as to carry the image acquisition device to shoot images to acquire a brick taking position and a brick placing position to be laid;
s4, controlling the mortar plastering device to move to the brick placing position to be laid for plastering mortar joints;
s5, judging whether the mortar plastering device needs to move to the upper layer, if so, controlling the wall building robot to clamp the mortar plastering device to move to the upper brick layer, and if not, controlling the mortar plastering device to move to expose the brick placing position to be built;
s6, controlling the wall building robot to clamp the bricks from the brick taking positions to be placed at the brick placing positions according to the obtaining result of the image obtaining device;
and S7, repeating the steps S2-S6 according to the masonry sequence of the wall until the masonry of the wall to be built or the masonry with the maximum height which can be achieved by the wall building robot is completed.
In a preferred embodiment, the mortar smearing device is controlled to further judge whether vertical mortar joints exist in the brick placing positions when the mortar smearing device smears the mortar joints, if so, the mortar smearing device smears the vertical mortar joints and the horizontal mortar joints, and if not, the mortar smearing device smears the horizontal mortar joints.
In a preferred embodiment, the method for judging whether the vertical mortar joints exist in the brick placing positions comprises the following steps: and judging whether the brick placement position to be built is the first brick placement position to be built of each brick layer.
In a preferred embodiment, the bricks are laid in a layer-by-layer or area-by-area sequence.
In a preferred embodiment, the brick placement location to be laid in step S2 is the first brick placement location to be laid on the bottom.
In a preferred embodiment, the determination method in steps S1, S2 is human eye determination, laser radar determination or image determination.
The utility model provides an automatic control system of building a wall, includes the robot of building a wall and smears the mortar device, still includes:
the first judging module is used for judging whether the mortar plastering device is positioned on a wall body to be built;
the second judgment module is used for judging whether the mortar plastering device is positioned on a brick placing position to be laid;
the first control module is used for controlling an image acquisition device carried by the wall building robot to shoot so as to determine the position of a brick placement position to be built;
the second control module is used for controlling the mortar smearing device to move and smearing mortar joints;
the third judgment module is used for judging whether the mortar plastering device needs to move upwards or not;
and the third control module is used for controlling the wall building robot to clamp the brick to be placed at the brick placing position to be built.
In a preferred embodiment, the control system for automatically building a wall further comprises a fourth judging module, and the fourth judging module is used for judging whether the mortar plastering device has a vertical mortar joint when the second control module controls the mortar plastering device to plaster the mortar joint.
A computer device, comprising:
a memory and a processor;
the memory is used for storing a computer program, and the processor realizes any step of the walling control method when executing the computer program.
A computer readable storage medium storing computer executable instructions which, when executed by a processor, implement the steps of any one of the walling control methods.
Compared with the prior art, the invention has the following beneficial effects: the wall building control method and the control system enable the wall building robot to automatically obtain the brick taking position and the brick taking position, enable the wall building robot to automatically clamp bricks and automatically place the bricks on the brick taking position, do not need to manually participate in the operation and control of the wall building robot, have small stacking errors of the bricks during building and enable the quality of a built wall body to be higher.
Drawings
Fig. 1 is a schematic structural diagram of a walling control method and a walling control system provided by the invention.
Fig. 2 is a brick stacking sequence diagram for stacking bricks layer by layer in the wall building control method provided in fig. 1.
Fig. 3 is a schematic flow chart of the brick layer by layer stacking in the walling control method provided in fig. 1.
Fig. 4 is a brick-stacking sequence diagram for stacking bricks by regions in the wall-building control method provided in fig. 1.
Fig. 5 is a schematic flow chart of brick stacking by regions in the walling control method provided in fig. 1.
Fig. 6 is a block schematic diagram of an automatic walling control system provided by the invention.
Fig. 7 is a schematic diagram of an electronic device provided by the present invention.
Description of the main elements
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1-6, fig. 1 is a schematic structural diagram of a walling control method and a walling control system according to the present invention. Fig. 2 is a brick stacking sequence diagram for stacking bricks layer by layer in the wall building control method provided in fig. 1. Fig. 3 is a schematic flow chart of the brick layer by layer stacking in the walling control method provided in fig. 1. Fig. 4 is a brick-stacking sequence diagram for stacking bricks by regions in the wall-building control method provided in fig. 1. Fig. 5 is a schematic flow chart of brick stacking by regions in the walling control method provided in fig. 1. Fig. 6 is a block schematic diagram of an automatic walling control system provided by the invention. Fig. 7 is a block diagram of an electronic device provided by the present invention.
As shown in fig. 1, the wall building robot includes a mortar applying device 1, an automatic guided vehicle (AGV cart) 2, a mechanical arm 3 disposed on the automatic guided vehicle 2, an image acquiring device 4 disposed on the mechanical arm 3, and a clamping device 5. The mortar plastering device 1 is used for plastering mortar to a horizontal mortar joint and a vertical mortar joint on a wall body, and the mechanical arm 3 shoots and obtains a brick taking position 7 and a brick placing position 6 through the image obtaining device 4 and controls the clamping device 5 to clamp bricks from the brick taking position 7 and place the bricks to the brick placing position 6 where the mortar is plastered. The plastering device 1 can move horizontally on a brick layer, and the image acquisition device 4 can identify and acquire the position information of the plastering device 1. The image acquisition device 4 is preferably a structured light camera and the image acquisition device 4 acquires a depth image.
Example 1:
as shown in fig. 2, in this embodiment, bricks are stacked sequentially layer by layer from left to right or from right to left.
Before the building is started, the length and the height of the wall body are calculated, the number of brick layers required by the wall body to be built is calculated according to the height of the wall body to be built, and the number of bricks required by each brick layer is determined according to the length of the wall body to be built and the type of bricks used by the wall body to be built.
And establishing a drawing file of the wall to be built, wherein each brick corresponds to one brick placing position, and one brick placing position to be built is defined as the brick placing position to be built. By establishing a drawing file of a wall body to be built, n brick placing positions 6 where bricks need to be placed are arranged in the wall body to be built according to the brick stacking sequence, wherein n is a positive integer, the brick placing positions 6 are sequentially defined as a first brick placing position, a second brick placing position and a third brick placing position … … nth brick placing position according to the building sequence, and the type of the bricks needing to be built in each brick placing position 6 is calculated. In an initial state, the mortar plastering device 1 is placed at a first brick placing position of a wall to be built.
Various types of bricks are provided for the wall to be built. In the embodiment, bricks to be taken are stacked on one side of a wall to be built according to a building sequence, and the wall building robot takes the bricks according to the building sequence. The brick blocks can be clamped nearby by the wall building robot. In other embodiments, various types of bricks required for the wall to be built can also be provided in real time.
As shown in fig. 3, a walling control method includes the following steps:
s1: and judging whether the mortar plastering device 1 is positioned on the wall to be built or not. If yes, the mortar plastering device 1 is judged to be positioned on the wall body to be built, the next step is carried out, if not, the mortar plastering device 1 is judged not to be positioned on the wall body to be built, and the wall building robot gives a prompt. The prompting mode can be a light visual prompt or a voice auditory prompt. And (4) after the mortar plastering device 1 is placed on the wall to be built, the next step is carried out.
S2: and judging whether the mortar plastering device 1 is positioned at the brick placing position to be laid. Because when plastering mortar device 1 is located to treat to build and put the brick position, plastering mortar device 1 can cause and shelter from, can influence follow-up image acquisition device 4 and treat to build and put brick position 6 and carry out accurate location, consequently, every position judgement of putting brick position 6 in treating the wall body when putting 6 sequencing of brick position plastering mortar device 1 is located to treat to build and puts the brick position, if plastering mortar device 1 is located to treat to build and puts the brick position, then control plastering mortar device 1 and lay horizontal migration on fragment of brick or end and leave and treat to build and put the brick position. And if the mortar plastering device 1 is positioned outside the brick placing position to be built, directly entering the next step.
The determination methods in the steps S1 and S2 may capture the wall to be laid by the image capturing device 4, and process the captured image for further determination.
The judging method in the steps S1 and S2 may be a method in which the human eye judges whether the mortar plastering device 1 is placed on the wall to be laid and is located at the brick laying position. Or whether the mortar plastering device 1 is positioned on the wall body to be built and whether the mortar plastering device 1 is positioned at the brick laying position to be built are judged by sensing the relative position of the mortar plastering device 1 and the wall body to be built through the laser radar.
S3: and positioning the brick placing position 6 and the brick taking position 7, wherein the brick placing position to be laid is an mth brick placing position, and m is an integer from one to n. In the initial state, m is 1. The image capturing device 4 photographs the mth brick placing position according to the approximate position of the mth brick placing position to perform positioning. Then, shooting a placing area of the brick to be taken through the image obtaining device 4, identifying a corresponding brick according to the type of the brick to be laid at the mth brick placing position, and defining the position of the brick as a brick taking position 7. The walking path of the mechanical arm is planned by aligning the brick placing position 6 and the brick taking position 7.
S4: and after the mortar is smeared on the brick placement position to be laid, the mortar smearing device 1 moves to the mth brick placement position to smear the mortar. According to the calculated number of the brick layers and the number of the bricks required by each layer, the first brick placing position 6 of each brick layer, the last brick placing position 6 of each brick layer and the last brick placing position 6 of the whole wall body to be built can be calculated to be the number-th brick placing position. If the brick placing position to be built is the first brick placing position 6 in the brick layer, the mortar plastering action of the vertical mortar joint is skipped due to the fact that the vertical mortar joint does not exist, and mortar plastering of the horizontal mortar joint is directly carried out. And if the layer is not the first brick placing position 6, controlling the plastering device 1 to carry out plastering action of the vertical mortar joint and plastering action of the horizontal mortar joint. After finishing the mortar plastering action, the mortar plastering device 1 moves away from the brick laying position.
S5: judging whether the mth brick placing position is the last brick placing position 6 of the whole wall body, if so, after the mortar placing position 6 is painted by the mortar painting device 1, photographing by the image acquisition device 4 to acquire the position information of the mortar painting device 1, and controlling the clamping device 5 by the mechanical arm 3 to clamp the mortar painting device 1 to move so as to take the mortar painting device 1 down from the wall body. And then the mechanical arm 3 controls the clamping device 5 to move the bricks at the brick taking position 7 to the brick placing position 6, and the whole wall is built. If not, the next step is carried out.
Judging whether the mth brick placing position is the last brick placing position 6 of the brick layer, if so, after the mortar placing position 6 is painted by the mortar plastering device 1, photographing by the image acquisition device 4 to acquire the position information of the mortar plastering device 1, controlling the clamping device 5 by the mechanical arm 3 to clamp the mortar plastering device 1 to move, and placing the mortar plastering device 1 on the next brick layer where the brick placing position 6 is located. And then the mechanical arm 3 controls the clamping device 5 to stack bricks at the brick taking position 7 to the mth brick placing position. And (5) after the completion, setting m +1, and restarting to position the brick placing position 6 and the brick taking position 7. If not, the next step is carried out.
And S6, stacking bricks, wherein the brick stacking action of the wall building robot can be performed simultaneously with the mortar plastering action of the mortar plastering device 1. The mechanical arm 3 controls the clamping device 5 to move to the brick taking position 7 to clamp the bricks to be taken according to the position information of the brick taking position 7, and then the mechanical arm 3 moves the bricks to be close to the brick placing position 6. If the mortar smearing device 1 does not finish smearing mortar, the mechanical arm 3 controls the clamped bricks to stop moving, and after the mortar smearing device 1 finishes smearing mortar on the brick placing positions 6 and leaves the brick placing positions 6, the mechanical arm 3 drives the clamped bricks to continue moving and place the bricks onto the brick placing positions 6.
And S7, repeating the steps S2-S6 according to the building sequence of the wall until the building of the wall to be built or the building of the maximum height which can be reached by the wall building robot is completed, namely when m is equal to n, executing the step S7 and ending the cycle.
Example 2:
as shown in fig. 4, in the present embodiment, bricks are stacked in zones in the stacking order, and for convenience of description, the zones are divided into a first zone 80, a second zone 81 and a third zone 82 in the masonry order.
Before beginning to build by laying bricks or stones, obtain the length and the height of wall body, wait to build the required brick layer quantity of wall body according to the highly calculation of waiting to build the wall body, according to the length of waiting to build the wall body, wait to build the required brick quantity in every brick layer of fragment of brick type determination that the wall body used. And establishing a drawing file of the wall body to be built, generating a plurality of brick placing positions, and defining one brick placing position to be built as the brick placing position to be built. By establishing a drawing file of a wall body to be built, n brick placing positions 6 where bricks need to be placed are arranged in the wall body to be built according to the brick stacking sequence, wherein n is a positive integer, the brick placing positions 6 are sequentially defined as a first brick placing position, a second brick placing position and a third brick placing position … … nth brick placing position according to the building sequence, and the type of the bricks needing to be built in each brick placing position 6 is calculated. For example, the brick placing positions 6 of the first area 80 are defined as a first brick placing position, a second brick placing position, a third brick placing position, a fourth brick placing position, a fifth brick placing position, a sixth brick placing position and a seventh brick placing position in the building sequence, wherein the first brick placing position and the sixth brick placing position are racking joints.
In this embodiment, after the type of bricks to be built at each brick placing position 6 is calculated, bricks to be taken are stacked on one side of a wall to be built according to a building area, and the wall building robot takes bricks according to the building area. Make the robot of building a wall can press from both sides the fragment of brick nearby and get, avoid needing AGV frequent removal.
As shown in fig. 5, a walling control method includes the following steps:
s1: and judging whether the mortar plastering device 1 is positioned on the wall to be built or not. If yes, the mortar plastering device 1 is judged to be positioned on the wall body to be built, the next step is carried out, if not, the mortar plastering device 1 is judged not to be positioned on the wall body to be built, and the wall building robot gives a prompt. The prompting mode can be a light visual prompt or a voice auditory prompt. And (4) after the mortar plastering device 1 is placed on the wall to be built, the next step is carried out.
S2: and judging whether the mortar plastering device 1 is positioned at the brick placing position to be laid. Because when plastering mortar device 1 is located to treat to build and put the brick position, plastering mortar device 1 can cause and shelter from, can influence follow-up image acquisition device 4 and treat to build and put brick position 6 and carry out accurate location, consequently, every position judgement of putting brick position 6 in treating the wall body when putting 6 sequencing of brick position plastering mortar device 1 is located to treat to build and puts the brick position, if plastering mortar device 1 is located to treat to build and puts the brick position, then control plastering mortar device 1 and lay horizontal migration on fragment of brick or end and leave and treat to build and put the brick position. And if the mortar plastering device 1 is positioned outside the brick placing position to be built, directly entering the next step.
The determination methods in the steps S1 and S2 may capture the wall to be laid by the image capturing device 4, and process the captured image for further determination.
The judging method in the steps S1 and S2 may be a method in which the human eye judges whether the mortar plastering device 1 is placed on the wall to be laid and is located at the brick laying position. Or whether the mortar plastering device 1 is positioned on the wall body to be built and whether the mortar plastering device 1 is positioned at the brick laying position to be built are judged by sensing the relative position of the mortar plastering device 1 and the wall body to be built through the laser radar.
S3: and positioning the brick placing position 6 and the brick taking position 7, wherein the brick placing position to be laid is an mth brick placing position, and m is an integer from one to n. In the initial state, m is 1. The image capturing device 4 photographs the mth brick placing position according to the approximate position of the mth brick placing position to perform positioning. Then, the image acquisition device 4 shoots the area where the bricks are placed, the corresponding bricks are identified according to the types of the bricks needing to be built at the mth brick placing position, and the position of the brick is defined as a brick taking position 7. The walking path of the mechanical arm is planned by aligning the brick placing position 6 and the brick taking position 7.
S4: and after the mortar to be laid is smeared, the mortar smearing device 1 moves to the mth brick placing position to smear the mortar. According to the calculated number of the brick layers and the number of bricks required by each layer, the first brick placing position 6 of each layer, the last brick placing position 6 of each layer and the last brick placing position 6 of the whole wall can be calculated to be the number of brick placing positions. If the brick placing position to be built is the first brick placing position 6 in the brick layer, the vertical mortar joint plastering action is skipped due to the fact that the vertical mortar joint does not exist, and mortar is directly plastered on the horizontal mortar joint. And if the layer is not the first brick placing position 6, controlling the plastering device 1 to carry out plastering action of the vertical mortar joint and plastering action of the horizontal mortar joint. After the mortar plastering action is finished, the mortar plastering device 1 moves away from the open brick position 6. Taking the first zone 80 as an example, when m is 1, m is 4, or m is 6, the mortar applying device 1 skips the vertical mortar joint mortar applying operation, and directly performs horizontal mortar joint mortar applying.
S5: and calculating whether the mth brick placing position is the last brick placing position 6 of the brick layer or not according to the sequence of the brick placing positions 6.
If not, the mechanical arm 3 controls the clamping device 5 to stack bricks at the brick taking position 7 on the brick placing position 6. And judges whether the mortar plastering device 1 needs to change the layer. Taking the first zone 80 as an example, when m is 3, m is 5, or m is 7, the layer of the mortar applying device 1 needs to be changed because the mth brick placing position and the next brick placing position 6 are not in the same brick layer. If the mortar applying device 1 needs to change layers, the mechanical arm 3 shoots through the image acquisition device 4 to acquire the position of the mortar applying device 1, clamps the mortar applying device 1 by using the clamping device 5, moves to the next brick layer where the brick placing position 6 is located, and enters the next step. If no layer change is needed, the next step is directly carried out.
If yes, judging whether m is equal to n, namely whether the mth brick placing position is the last brick placing position of the wall to be built. If yes, the mechanical arm 3 shoots through the image acquisition device 4 to acquire the position of the mortar plastering device 1, clamps the mortar plastering device 1 by using the clamping device 5, takes the mortar plastering device 1 off the wall, and then enters the next step. If not, the mechanical arm 3 shoots through the image acquisition device 4 to acquire the position of the mortar applying device 1, clamps the mortar applying device 1 by using the clamping device 5, moves to the next brick layer where the brick placing position 6 is located, and then enters the next step.
And S6, stacking bricks, wherein the brick stacking action of the wall building robot can be performed simultaneously with the mortar plastering action of the mortar plastering device 1. The mechanical arm 3 controls the clamping device 5 to move to the brick taking position 7 to clamp the bricks to be taken according to the position information of the brick taking position 7, and then the mechanical arm 3 moves the bricks to be close to the brick placing position 6. If the mortar smearing device 1 does not finish smearing mortar, the mechanical arm 3 controls the clamped bricks to stop moving, and after the mortar smearing device 1 finishes smearing mortar on the brick placing positions 6 and leaves the brick placing positions 6, the mechanical arm 3 drives the clamped bricks to continue moving and place the bricks onto the brick placing positions 6.
And S7, repeating the steps S2-S6 according to the building sequence of the wall until the building of the wall to be built or the building of the maximum height which can be reached by the wall building robot is completed, namely when m is equal to n, executing the step S7 and ending the cycle.
In example 2, bricks to be taken are stacked according to zones, so that a stack of bricks corresponds to one zone. If a regional brick quantity is more, can divide into pile and pile more and stack, prevent to stack too high and cause danger.
In embodiments 1 and 2, the image acquiring device 4 is a 3D structured light camera, and in other embodiments, the image acquiring device 4 may also be other devices capable of recognizing and calculating target position information.
The difference between embodiment 2 and embodiment 1 is that in embodiment 1, since the left-right movement span of the brick placing position 6 is large, the automatic navigation vehicle 2 needs to move along with the left-right movement of the brick placing position 6, whereas embodiment 2 only needs to move once along with the change of the brick stacking area, and the moving frequency is small. However, in example 1, the number of times the mortar applying device 1 replaces a brick course is small, and therefore, the flow of the operation of the robot arm 3 during the masonry process is small. In example 2, the mortar applying device 1 has a large number of times of replacing the brick course, and the robot arm 3 has a large flow of operation.
If there is the ceiling at this top of waiting to build a wall body, because the top is sheltered from by the ceiling, when building the one deck brick layer of waiting to build a wall body top, clamping device can't place the brick position 6 of putting of the one deck brick layer of top with the fragment of brick, consequently when building this waiting to build a wall body, should wait to build a wall body top one deck brick layer and not build by laying bricks or stones.
As shown in fig. 6, a control system for automatic walling includes a calculation module 90, a brick placing position arrangement module 91, a mortar applying control module 92, a first judgment sub-module 93, a brick stacking control module 94, a second judgment sub-module 95, and a brick taking position identification module 96.
The utility model provides an automatic control system of building a wall, including the robot of building a wall and plastering mortar device, its characterized in that still includes:
the first judging module 90 is used for judging whether the mortar plastering device 1 is positioned on the wall to be built. When the mortar applying device 1 is located on the wall to be built according to the judgment result, the second judgment module 91 operates.
And the second judging module 91 is used for judging whether the mortar plastering device 1 is positioned on the brick placing position to be laid. And when the judgment result is that the mortar plastering device 1 is positioned on the brick placing position to be laid, controlling the mortar plastering device 1 to move away from the brick placing position to be laid. And when the judgment result is that the mortar plastering device 1 is positioned outside the brick laying position, the first control module 92 operates.
And the first control module 92 is used for controlling the image acquisition device 4 carried by the wall building robot to shoot so as to determine the position of the brick placement position to be built. So that the robot of building a wall sign indicating number puts more accurately when putting the brick position of waiting to build with the brick sign indicating number. After determining the exact position of the brick placement location to be laid, the second control module 93 is operated.
And the second control module 93 is used for controlling the mortar smearing device to move and smearing mortar joints. And controlling the mortar plastering device 1 to move to the brick placing position to be laid for mortar plastering according to the position information of the brick placing position to be laid. And meanwhile, the fourth judging module works.
And the fourth judging module is used for judging whether the mortar plastering device has a vertical mortar joint when the second control module 93 controls the mortar plastering device to plaster the mortar joint. If the brick placing position 6 has a vertical mortar joint, the mortar plastering device 1 plasters the vertical mortar joint and the horizontal mortar joint, and if the brick placing position 6 has no vertical mortar joint, the mortar plastering device 1 executes a horizontal mortar joint mortar plastering action and skips the vertical mortar joint mortar plastering action.
And a third judging module 94, configured to judge whether the mortar applying device needs to move upward. Namely, whether the brick placing position to be laid and the next brick placing position are in the same brick layer is judged. If the mortar coating device 1 is on the same brick layer, the mortar coating device is controlled to horizontally move away from the open brick position. If the two bricks are not on the same brick layer, the wall building robot is controlled to clamp the mortar plastering device 1 and move to the next brick layer where the brick placing position is located.
And the third control module 95 is used for controlling the wall building robot to clamp the brick to be placed at the brick placing position to be built. According to the position information of the brick placement position to be built, the mechanical arm 3 is controlled to drive the clamping device 5 to grab bricks, and the bricks are moved and stacked to the brick placement position to be built, on which mortar is smeared.
As shown in fig. 7, the present application provides an electronic device comprising:
a memory and a processor.
The memory is used for storing a computer program, and the processor implements the steps of the walling control method in embodiment 1 or embodiment 2 when executing the computer program.
A computer readable storage medium storing computer executable instructions which, when executed by a processor, implement controlling a walling robot and a plastering apparatus to perform actions corresponding to the walling control methods in embodiments 1 and 2.
The computer instructions comprise computer program code which may be in the form of source code, object code, an executable file or some intermediate form, or the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
The embodiment of the invention has the following beneficial effects: according to the wall building control method and the wall building control system, the wall building robot can automatically obtain the brick placing position to be built and the brick taking position 7, the wall building robot can automatically clamp bricks and automatically place the bricks on the brick placing position to be built, manual participation in operation and control of the wall building robot is not needed, the brick stacking error is small during building, and the quality of a built wall body is higher.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A wall building control method comprises a wall building robot and a mortar plastering device, and is characterized in that: the method comprises the following steps:
s1, judging whether the mortar plastering device is positioned on the wall to be built, if so, carrying out the next step;
s2, judging whether the position of the mortar plastering device is positioned at the brick placement position to be laid, if so, controlling the mortar plastering device to move to expose the brick placement position to be laid;
s3, controlling the mechanical arm of the robot to move so as to carry the image acquisition device to shoot images to acquire a brick taking position and a brick placing position to be laid;
s4, controlling the mortar plastering device to move to the brick placing position to be laid for plastering mortar joints;
s5, judging whether the mortar plastering device needs to move to the upper layer, if so, controlling the wall building robot to clamp the mortar plastering device to move to the upper brick layer;
s6, controlling the wall building robot to clamp the bricks from the brick taking positions to be placed at the brick placing positions according to the obtaining result of the image obtaining device;
and S7, repeating the steps S2-S6 according to the masonry sequence of the wall until the masonry of the wall to be built or the masonry with the maximum height which can be achieved by the wall building robot is completed.
2. The walling control method according to claim 1, wherein the mortar smearing device is controlled to further judge whether vertical mortar joints exist in the brick placing positions when mortar joints are smeared, if yes, the mortar smearing device smears the vertical mortar joints and the horizontal mortar joints, and if not, the mortar smearing device smears the horizontal mortar joints.
3. The walling control method according to claim 2, wherein the method for judging whether the brick placing positions have vertical mortar joints is as follows: and judging whether the brick placement position to be built is the first brick placement position to be built of each brick layer.
4. A method of masonry control according to claim 1 wherein the masonry sequence of blocks is either stacked layer by layer or stacked by zone.
5. A method according to claim 1, wherein the brick placement location to be laid in step S2 is the first brick placement location to be laid on the bottom.
6. The walling control method according to claim 1, wherein the judging method in steps S1, S2 is human eye judgment, laser radar judgment or image judgment.
7. The utility model provides an automatic control system of building a wall, includes the robot of building a wall and smears the mortar device, its characterized in that still includes:
the first judging module is used for judging whether the mortar plastering device is positioned on a wall body to be built;
the second judgment module is used for judging whether the mortar plastering device is positioned on a brick placing position to be laid;
the first control module is used for controlling an image acquisition device carried by the wall building robot to shoot so as to determine the position of a brick placement position to be built;
the second control module is used for controlling the mortar smearing device to move and smearing mortar joints;
the third judgment module is used for judging whether the mortar plastering device needs to move upwards or not;
and the third control module is used for controlling the wall building robot to clamp the brick to be placed at the brick placing position to be built.
8. The automatic walling control system according to claim 7, further comprising a fourth judgment module, wherein the fourth judgment module is used for judging whether the mortar plastering device has a vertical mortar joint when the second control module controls the mortar plastering device to plaster the mortar joint.
9. A computer device, comprising:
a memory and a processor;
the memory is used for storing a computer program, and the processor realizes the steps of the walling control method according to any one of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium storing computer-executable instructions, which when executed by a processor, perform the steps of the walling control method according to any one of claims 1 to 6.
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