CN112433239A - Positioning system and method of masonry machine - Google Patents
Positioning system and method of masonry machine Download PDFInfo
- Publication number
- CN112433239A CN112433239A CN202011240460.3A CN202011240460A CN112433239A CN 112433239 A CN112433239 A CN 112433239A CN 202011240460 A CN202011240460 A CN 202011240460A CN 112433239 A CN112433239 A CN 112433239A
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- China
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- masonry
- arm
- information
- base station
- rtk base
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 239000000463 material Substances 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 3
- 239000013072 incoming material Substances 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 239000011449 brick Substances 0.000 description 11
- 239000004575 stone Substances 0.000 description 11
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000004927 clay Substances 0.000 description 2
- 239000004570 mortar (masonry) Substances 0.000 description 2
- 239000011455 calcium-silicate brick Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000010881 fly ash Substances 0.000 description 1
- 239000011464 hollow brick Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
-
- 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
Abstract
The invention discloses a positioning system and a method of a masonry machine, wherein satellite signals are received through a main device and a masonry arm, comparison is carried out by combining an RTK base station with an accurate coordinate position, a signal error is calculated, and the signal error is fed back to the main device and the masonry arm, so that the main device and the masonry arm move to preset positions. The method combines satellite positioning and signal errors, improves the absolute coordinate of positioning equipment, is not influenced by a reference system, and enables the masonry arm to have higher positioning precision.
Description
Technical Field
The invention belongs to the field of masonry engineering, and particularly relates to a positioning system and a positioning method of a masonry machine.
Background
The masonry engineering is also called masonry engineering, and refers to the engineering of building by using common clay bricks, load-bearing clay hollow bricks, autoclaved sand-lime bricks, fly ash bricks, various small and medium-sized building blocks, stones and other materials in the building engineering. Including bricking, stone, building blocks, lightweight wallboards, and the like. The masonry is mainly composed of blocks and mortar, wherein the mortar is used as a cementing material to combine the blocks into a whole so as to meet the normal use requirement and bear various loads of the structure.
At present, no masonry equipment exists in the market, the construction equipment is manually matched with engineering machinery for operation, wherein the engineering machinery (a tower crane, a portal frame and the like) is also manually operated, the control and positioning are coarse, the precision is low, the operation efficiency is low, the engineering cost is high, intelligent production cannot be realized, and the industry needs to be upgraded and transformed urgently.
Disclosure of Invention
The invention aims to overcome the defects and provides a positioning system and a positioning method of a masonry machine, so as to solve the problems of rough control and positioning, low precision, low operation efficiency, high engineering cost and incapability of realizing intelligent production due to manual operation in a masonry process.
In order to achieve the purpose, the positioning method of the masonry machine comprises the following steps:
s1, the RTK base station and the master device continuously receive satellite signals, the RTK base station compares the satellite signals received by the master device with the known accurate coordinate position, calculates signal errors and sends the obtained signal errors to the master device, the master device obtains current position information of the master device according to signals sent by the satellite and error information sent by the RTK base station, and the master device is moved to a preset position according to the current position information of the master device and the coordinate information of the first zero position;
s2, the RTK base station and the masonry arm continuously receive satellite signals, the RTK base station compares the satellite signals received by the masonry arm with known accurate coordinate positions, calculates signal errors and sends the obtained signal errors to the masonry arm, the masonry arm obtains current position information of the masonry arm according to the satellite signals and the error information sent by the RTK base station, and the masonry arm is moved to a preset position according to the current position information of the masonry arm and the coordinate information of the original position;
and S3, moving the masonry arm to the coordinate position of the masonry point, detecting the size information, the masonry surface information and the masonry information of the incoming materials by the sensor, and building the materials after the detection is finished.
In S1, the method for moving the master device to the preset position is as follows:
comparing the current position information of the main equipment with the coordinate information of the first zero position, and if the coordinates of the main equipment and the first zero position are different, moving the main equipment to the first zero position; if the main device moves to enable the two coordinates to coincide, the main device reaches the preset position.
In S2, the method for moving the masonry arm to the preset position is as follows:
and comparing the current position information of the masonry arm with the coordinate information of the original point position, and enabling the two coordinates to coincide by the movement of the masonry arm, so that the masonry arm reaches the preset position.
In S2, after the masonry arm moves to the preset position, the limit switch and the sensor at the preset position send signals to the controller, and the controller displays that the masonry work preparation is completed.
A positioning system of a masonry machine comprises an RTK base station, a main device and a masonry arm, wherein the RTK base station, the main device and the masonry arm are all communicated with a satellite;
and the RTK base station is used for comparing known accurate coordinate positions according to the satellite signals received by the main equipment and the masonry arm, calculating a signal error and feeding the signal error back to the main equipment and the masonry arm so as to enable the main equipment and the masonry arm to move to preset positions.
And a limit switch and a sensor are arranged at the preset position of the masonry arm, and the limit switch and the sensor are connected with a controller.
The main equipment and the masonry arm are communicated with the satellite by adopting a GNSS positioning system.
Compared with the prior art, the method comprises the steps of receiving satellite signals through the main equipment and the masonry arm, comparing the satellite signals with the accurate coordinate position through the RTK base station, calculating signal errors, feeding the signal errors back to the main equipment and the masonry arm, and enabling the main equipment and the masonry arm to move to preset positions. The method combines satellite positioning and signal errors, improves the absolute coordinate of positioning equipment, is not influenced by a reference system, and enables the masonry arm to have higher positioning precision.
The system comprises an RTK base station, a main device and a masonry arm, wherein the RTK base station, the main device and the masonry arm are all in communication with a satellite, and the RTK base station is used for comparing known accurate coordinate positions according to satellite signals received by the main device and the masonry arm, calculating signal errors and feeding the signal errors back to the main device and the masonry arm so that the main device and the masonry arm move to preset positions. The system calculates the coordinate value and the error value of the satellite to obtain a high-precision absolute coordinate value, so that the problems of rough control and positioning, low precision, low operation efficiency, high engineering cost and incapability of realizing intelligent production due to manual operation in the building process are solved.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1, a positioning method of a masonry machine is characterized by comprising the following steps:
s1, the RTK base station and the master device continuously receive satellite signals, the RTK base station compares the satellite signals received by the master device with the known accurate coordinate position, calculates signal errors and sends the obtained signal errors to the master device, the master device obtains current position information of the master device according to the signals sent by the satellite and the error information sent by the RTK base station, compares the current position information of the master device with the coordinate information of a first zero point position, and if the coordinates of the master device and the first zero point position are different, the master device is moved to the first zero point position; if the two coordinates are overlapped by the movement of the main equipment, the main equipment reaches the preset position;
s2, the RTK base station and the masonry arm continuously receive satellite signals, the RTK base station compares the satellite signals received by the masonry arm with known accurate coordinate positions, calculates signal errors and sends the obtained signal errors to the masonry arm, the masonry arm obtains current position information of the masonry arm according to the satellite signals and the error information sent by the RTK base station, the current position information of the masonry arm is compared with coordinate information of an original position, the two coordinates are overlapped through the movement of the masonry arm, and the masonry arm reaches a preset position;
and S3, sending signals to a controller by a limit switch and a sensor at preset positions, displaying that the masonry work is ready to be finished by the controller, moving a masonry arm to a coordinate position of a masonry point, detecting the size information, the masonry surface information and the masonry information of the incoming materials by the sensor, and building the materials after the detection is finished.
A positioning system of a masonry machine comprises an RTK base station, a main device and a masonry arm, wherein the RTK base station, the main device and the masonry arm are all communicated with a satellite;
and the RTK base station is used for comparing known accurate coordinate positions according to the satellite signals received by the main equipment and the masonry arm, calculating a signal error and feeding the signal error back to the main equipment and the masonry arm so as to enable the main equipment and the masonry arm to move to preset positions.
And a limit switch and a sensor are arranged at the preset position of the masonry arm, and the limit switch and the sensor are connected with a controller.
The main equipment and the masonry arm are communicated with the satellite by adopting a GNSS positioning system.
Referring to fig. 1, example:
1. master device preset positioning
The equipment is started, the satellite sends out a signal, the RTK base station and the multi-frequency antenna of the main equipment receive the signal simultaneously, the RTK base station calculates a signal error by comparing known accurate coordinate positions and sends the obtained error to the multi-frequency antenna of the equipment, the multi-frequency antenna of the equipment calculates the received signal sent by the satellite and the error information sent by the RTK base station to obtain the current position information detected by the positioner of the main equipment, the coordinate information of the first zero position is compared, the main equipment moves to enable the two coordinates to coincide, and the main equipment arrives at a preset position.
2. Masonry arm preset positioning
After the main equipment reaches a preset position, a satellite sends out a signal, the RTK base station and the multi-frequency antenna of the masonry arm receive the signal at the same time, the RTK base station calculates a signal error by comparing known accurate coordinate positions and sends the obtained error to the multi-frequency antenna of the masonry arm, the multi-frequency antenna of the masonry arm obtains current position information of a positioner of the masonry arm by calculating the received signal sent by the satellite and the error information sent by the RTK base station, the coordinate information of an original point position is compared, the masonry arm moves to enable the two coordinates to coincide, and the masonry arm reaches the preset position.
3. Masonry arm work positioning
After the arm of building by laying bricks or stones reachd preset position promptly, each limit switch, the sensor etc. all show and can build by laying bricks or stones the during operation, build by laying bricks or stones the coordinate information of arm locator contrast first point position, build by laying bricks or stones the arm motion and make these two coordinate coincidences, build by laying bricks or stones the arm and reachd first operating position promptly, each sensor detects (including size information, the information of laying bricks or stones), build by laying bricks or stones the information (including the information of having built by laying bricks or stones, design information, treat to build by laying bricks or stones positional information, gap information, fixed information, tamp information) and detect, build. And (4) circulating the above actions to carry out the 2 nd, 3 rd and 4 th materials to complete the first circulation.
4. Integral positioning cycle
And (5) circulating the steps 1-3, finishing the 2 nd, 3 rd and 4. N cycles, finishing the whole positioning cycle when the Nth zero position is finished, and finishing the whole masonry work.
Claims (7)
1. A positioning method of a masonry machine is characterized by comprising the following steps:
s1, the RTK base station and the master device continuously receive satellite signals, the RTK base station compares the satellite signals received by the master device with the known accurate coordinate position, calculates signal errors and sends the obtained signal errors to the master device, the master device obtains current position information of the master device according to signals sent by the satellite and error information sent by the RTK base station, and the master device is moved to a preset position according to the current position information of the master device and the coordinate information of the first zero position;
s2, the RTK base station and the masonry arm continuously receive satellite signals, the RTK base station compares the satellite signals received by the masonry arm with known accurate coordinate positions, calculates signal errors and sends the obtained signal errors to the masonry arm, the masonry arm obtains current position information of the masonry arm according to the satellite signals and the error information sent by the RTK base station, and the masonry arm is moved to a preset position according to the current position information of the masonry arm and the coordinate information of the original position;
and S3, moving the masonry arm to the coordinate position of the masonry point, detecting the size information, the masonry surface information and the masonry information of the incoming materials by the sensor, and building the materials after the detection is finished.
2. A positioning method of a masonry machine according to claim 1, wherein in S1, the method of moving the main device to the preset position is as follows:
comparing the current position information of the main equipment with the coordinate information of the first zero position, and if the coordinates of the main equipment and the first zero position are different, moving the main equipment to the first zero position; if the main device moves to enable the two coordinates to coincide, the main device reaches the preset position.
3. A method of positioning a masonry machine according to claim 1 wherein the masonry arms are moved to the predetermined position at S2 by:
and comparing the current position information of the masonry arm with the coordinate information of the original point position, and enabling the two coordinates to coincide by the movement of the masonry arm, so that the masonry arm reaches the preset position.
4. The method of claim 1, wherein in step S2, when the masonry arm is moved to the predetermined position, the limit switches and sensors in the predetermined position send signals to the controller, and the controller indicates that the masonry is ready.
5. A positioning system of a masonry machine is characterized by comprising an RTK base station, a main device and a masonry arm, wherein the RTK base station, the main device and the masonry arm are all communicated with a satellite;
and the RTK base station is used for comparing known accurate coordinate positions according to the satellite signals received by the main equipment and the masonry arm, calculating a signal error and feeding the signal error back to the main equipment and the masonry arm so as to enable the main equipment and the masonry arm to move to preset positions.
6. A positioning system for a masonry machine according to claim 5 wherein the predetermined positions of the masonry arms are provided with limit switches and sensors connected to the controller.
7. A masonry machine positioning system according to claim 5, characterised in that the host device and the masonry arm each maintain communication with satellites using a GNSS positioning system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011240460.3A CN112433239A (en) | 2020-11-09 | 2020-11-09 | Positioning system and method of masonry machine |
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| CN202011240460.3A CN112433239A (en) | 2020-11-09 | 2020-11-09 | Positioning system and method of masonry machine |
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| CN112433239A true CN112433239A (en) | 2021-03-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115439949A (en) * | 2022-08-30 | 2022-12-06 | 中建三局智能技术有限公司 | Automatic robot inspection method, device, equipment and storage medium |
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| CN2032608U (en) * | 1987-12-08 | 1989-02-15 | 安徽省建筑科学研究所 | Hoisting and laying machine for laying blocks |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115439949A (en) * | 2022-08-30 | 2022-12-06 | 中建三局智能技术有限公司 | Automatic robot inspection method, device, equipment and storage medium |
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