CN113741465B - Ceiling wall construction method, path planning device and construction robot - Google Patents
Ceiling wall construction method, path planning device and construction robot Download PDFInfo
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- CN113741465B CN113741465B CN202111044611.2A CN202111044611A CN113741465B CN 113741465 B CN113741465 B CN 113741465B CN 202111044611 A CN202111044611 A CN 202111044611A CN 113741465 B CN113741465 B CN 113741465B
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- 238000010276 construction Methods 0.000 title claims abstract description 303
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- 230000004888 barrier function Effects 0.000 claims description 11
- 230000008447 perception Effects 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 238000005498 polishing Methods 0.000 description 8
- 239000003973 paint Substances 0.000 description 7
- 238000001179 sorption measurement Methods 0.000 description 6
- 238000005507 spraying Methods 0.000 description 6
- 238000004140 cleaning Methods 0.000 description 4
- 239000004568 cement Substances 0.000 description 3
- 239000011248 coating agent Substances 0.000 description 3
- 238000000576 coating method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000009423 ventilation Methods 0.000 description 3
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- 230000001680 brushing effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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Abstract
The invention discloses a ceiling wall construction method, a construction path planning device and a construction robot, wherein the method comprises the following steps: lifting the construction module to the height of a ceiling wall construction position; the construction module is horizontally moved at the construction position to construct the ceiling wall surface; the sensing module in the construction module detects the position and the size information of the obstacle in the construction direction and determines the type of the obstacle; and the control module plans a construction path according to the type, the position and the size information of the obstacle so as to avoid the obstacle for construction. The construction path planning device comprises a sensing module and a control module, and the construction robot comprises a construction path planning device and a construction module. By implementing the invention, the position, the size information and the type of the obstacle are obtained by detecting the obstacle in the construction process of the ceiling wall surface, different construction paths are planned for different obstacles to avoid, the manual participation of the construction robot in the construction process is greatly reduced, and the construction efficiency is improved.
Description
Technical Field
The invention relates to the technical field of construction robots, in particular to a ceiling wall construction method, a path planning device and a construction robot.
Background
Along with the development of intelligent technology in the building industry, various building construction robots are developed and used for replacing manpower to realize safe and efficient construction. For example, the adsorption type outer vertical surface cleaning robot adsorbs the robot on the outer wall surface through an adsorption structure such as electrostatic force adsorption, magnetic force adsorption and vacuum adsorption, and the robot construction module polishes, cleans and the like on the outer wall surface. The hanging basket type outer elevation cleaning robot is characterized in that a fixed structure is arranged on an attic, and a hanging basket is put down. The construction device is arranged in the hanging basket, and the work such as polishing and cleaning of the outer wall surface is completed in the vertical lifting process. Lifting type wall processing equipment comprises single-function polishing, putty coating and paint spraying equipment, each time equipment lifting enables a construction device to be lifted, and the construction device completes the functions of polishing, putty coating and paint spraying in the vertical direction in the lifting process.
The existing lifting type automatic equipment cannot complete obstacle avoidance in the direction of the ceiling wall surface, cannot automatically plan the horizontal movement distance, and does not have intelligent construction capability. But in the ceiling wall surface treatment part, including polishing the cement wall surface, removing burrs on the cement surface; the cement wall is smeared with putty, and the putty layer enables the whole wall to be smoother; polishing the wall surface of the putty layer, removing joints and the like of the putty layer, so that the putty layer is smoother; and (5) spraying paint or brushing paint on the putty layer. During the construction process, the non-construction area is avoided, and the light below the ceiling wall surface and the non-construction area appointed by the owner are avoided.
The existing adsorption type outer elevation cleaning robot is not suitable for indoor wall construction scenes, the wall is nonmagnetic, rough and incapable of being adsorbed. The existing basket type outer elevation leave-on robot is not suitable for an indoor wall construction scene, and the indoor height of 0-6m is used for arranging the basket, and the height ratio of the basket is close to 30%.
The ceiling wall of the indoor building is generally provided with a plurality of barriers which are tightly attached to the top surface, such as beams in the transverse and vertical directions, fire pipes, ventilation pipes, water pipes and the like, the ceiling wall is divided into a plurality of discontinuous small areas, the shielded area is about 50%, if the equipment does not have the capability of automatically avoiding barriers on the ceiling wall, the manual adjustment equipment works in a constructable area, and the construction efficiency is difficult to jump.
Disclosure of Invention
The ceiling wall of the indoor building is generally provided with a plurality of barriers which are tightly attached to the top surface, such as beams in the horizontal and vertical directions, fire pipes, ventilation pipes, water pipes and the like, the ceiling wall is divided into a plurality of discontinuous small areas, the shielded areas are about 50%, the existing construction robot does not have the capability of automatically avoiding barriers on the ceiling wall, and the manual adjustment equipment works in the construction area and has low construction efficiency.
According to the ceiling wall construction method, the path planning device and the construction robot, the position and the size information of the obstacle are obtained through detecting the obstacle in the ceiling wall construction process, the type of the obstacle is determined, different construction paths are planned for different obstacles, the path avoidance is effectively carried out on the obstacle, the manual participation of the construction robot in the construction process is greatly reduced, and the construction efficiency is improved.
A ceiling wall construction method comprises the following steps:
Lifting the construction module to the height of a ceiling wall construction position;
The construction module is horizontally moved at the construction position to construct the ceiling wall surface;
A perception module in the construction module detects the position and size information of the obstacle in the construction direction and determines the type of the obstacle;
and the control module plans a construction path according to the type, the position and the size information of the obstacle so as to avoid the obstacle for construction.
In combination with the ceiling wall construction method according to the present invention, in a first possible embodiment, the construction method further includes the steps of:
The sensing module detects the vertical wall surface covered by the construction and confirms the construction effect;
Determining the overlapping area ratio of two adjacent constructions according to the construction effect;
And determining the horizontal movement distance according to the coverage width W1 of the construction module for one-time construction and the overlapping area proportion.
In combination with the first possible embodiment of the present invention, in a second possible embodiment, the steps are as follows: lifting the construction module to the height of the ceiling wall construction position, and initializing the construction module:
The initializing step includes the steps of:
setting a covering width W1 of the construction module for one-time construction;
Setting the horizontal construction speed V of the construction module.
With reference to the second possible embodiment of the present invention, in a third possible embodiment, the steps include: the control module plans a construction path according to the type, the position and the size information of the obstacle so as to avoid the obstacle for construction, and the method comprises the following substeps:
The sensing module detects the position and size information of the obstacle in the construction process and determines the type of the obstacle;
If the obstacle is a first obstacle, detecting the horizontal distance from the construction module to the first obstacle;
The control module determines the termination position of the construction module according to the horizontal distance;
Wherein, first barrier is the indoor supporting beam of building.
In combination with the second possible embodiment of the present invention, in a fourth possible embodiment, the steps are as follows: the control module plans a construction path according to the type, the position and the size information of the obstacle so as to avoid the obstacle for construction, and the method further comprises the following substeps:
if the obstacle is a second obstacle, calculating first position and size information of the second obstacle;
According to the first position and the size information, a control module determines the end position of the construction, the distance for avoiding the second obstacle to retreat and the start position of the construction again;
The second barrier is a pipeline wire positioned in the middle of the ceiling wall surface.
With reference to the fourth possible embodiment of the present invention, in a fifth possible embodiment, the steps include: if the obstacle is a second obstacle, calculating first position and size information of the second obstacle, including the sub-steps of:
returning coordinate parameters (X, Y) of the second obstacle relative to the construction module coordinate system;
and calculating size information of the second obstacle, wherein the size information comprises a horizontal width Wa, a horizontal length Wb and a protruding height T from the ceiling wall surface.
A ceiling wall construction path planning device, set up on the construction robot for walk and construction path to the robot plan, include:
a perception module;
A control module;
The sensing module is in communication connection with the control module and is used for detecting position and size information of the obstacle in the construction process and determining the type of the obstacle;
the control module is used for planning a construction path according to the type, the position and the size information of the obstacle so as to avoid the obstacle for construction.
In combination with the ceiling wall construction path planning device of the present invention, in a first possible implementation manner, the obstacle detected by the sensing module includes a first obstacle and a second obstacle, the first obstacle is an indoor support beam of a building, and the second obstacle is a pipeline routing located in the middle of the ceiling wall.
In combination with the first possible embodiment of the present invention, in a second possible embodiment, the size information of the second obstacle includes a horizontal width Wa, a horizontal length Wb, and a protruding height T from the ceiling wall.
The ceiling wall construction robot utilizes the ceiling wall construction method, comprises the construction path planning device and further comprises:
A construction module;
The construction module is used for constructing a preset ceiling wall according to a construction path planned by the planning device, and comprises the following components:
An AGV navigation unit;
A vertical lifting unit;
a horizontal moving unit;
the vertical lifting unit is used for driving the vertical construction module to move vertically according to the construction control instruction to perform construction;
The horizontal moving unit is used for driving the robot to horizontally move the corresponding ceiling wall according to the planned path or the control instruction; the AGV navigation unit is used for navigating horizontal movement and vertical movement of the robot.
By implementing the ceiling wall construction method, the construction path planning device and the construction robot, the position and the size information of the obstacle are obtained by detecting the obstacle in the ceiling wall construction process, the type of the obstacle is determined, different construction paths are planned for different obstacles, the path avoidance is effectively carried out on the obstacle, the manual participation of the construction robot in the construction process is greatly reduced, and the construction efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view showing a first embodiment of a ceiling wall construction method according to the present invention;
FIG. 2 is a schematic view showing a second embodiment of the ceiling wall construction method of the present invention;
FIG. 3 is a schematic view of a third embodiment of a ceiling wall construction method according to the present invention;
FIG. 4 is a schematic view of a fourth embodiment of the ceiling wall construction method according to the present invention;
FIG. 5 is a schematic view showing a fifth embodiment of a ceiling wall construction method according to the present invention;
FIG. 6 is a schematic view showing a sixth embodiment of a ceiling wall construction method according to the present invention;
FIG. 7 is a schematic view showing an embodiment of a module composition of a ceiling wall construction robot according to the present invention;
FIG. 8 is a schematic view of an embodiment of a construction module in ceiling wall construction according to the present invention;
the site names indicated by the numerals in the drawings are: 100-construction robots, 110-construction path planning devices, 111-sensing modules, 112-control modules, 120-construction modules, 121-AGV navigation units, 122-vertical lifting units and 123-horizontal movement units.
Detailed Description
The following description of the embodiments of the present invention will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. Based on the embodiments of the present invention, other embodiments that may be obtained by those of ordinary skill in the art without undue burden are within the scope of the present invention.
The ceiling wall of the indoor building usually has a plurality of barriers which are tightly attached to the top surface, such as beams in the horizontal and vertical directions, fire pipes, ventilation pipes, water pipes and the like, the ceiling wall is divided into a plurality of discontinuous small areas, the shielded area is about 50%, the existing construction robot 100 does not have the capability of automatically avoiding barriers on the ceiling wall, and the manual adjustment equipment works in a construction area and has low construction efficiency.
In order to solve the above problems, a ceiling wall construction method, a path planning device 110, and a construction robot 100 are provided.
A ceiling wall construction method, as shown in fig. 1, fig. 1 is a schematic view showing a first embodiment of a ceiling wall construction method according to the present invention, comprising the steps of:
referring to fig. 3, fig. 3 is a schematic diagram of a third embodiment of the ceiling wall construction method according to the present invention, first, the method includes an initializing step S8, where the initializing step S8 includes the steps of:
s81, setting a covering width W1 of the construction module 120 for one-time construction;
s82, setting the horizontal construction speed V of the construction module 120.
Generally comprises the construction types of wall polishing, putty plastering, paint spraying and the like, wherein the horizontal moving speed V in the construction direction determines the polishing thickness, the putty plastering thickness and the paint spraying thickness, and the faster the speed is, the thinner the thickness is. The construction coverage width W1 is the width of one construction, and in order to ensure that no obvious joint is formed in two constructions, 10% of the adjacent two constructions generally need to overlap.
S1, lifting a construction module 120 to the height of a ceiling wall construction position;
The construction module 120 is provided with a vertical lifting unit 122 to drive the construction module 120 to move up and down in the vertical direction.
S2, horizontally moving the construction module 120 at the construction position to construct the ceiling wall surface; the construction module 120 traverses all indoor construction areas, and performs construction according to a set construction coverage width W1, wherein the construction width W1 can be 400-600mm.
S3, detecting the position and the size information of the obstacle in the construction direction by a perception module 111 in the construction module 120 and determining the type of the obstacle; the sensing module 111 may include a first sensing unit and a second sensing unit, wherein the first sensing unit may be composed of one RGB camera, and the second sensing unit may be composed of one or more of a laser radar, a millimeter wave radar, an ultrasonic radar, a depth camera, an RGB camera, and an infrared camera. The first sensing unit and the second sensing unit transmit data to the control module 112, the control module 112 calculates the data, so as to plan a construction path, the control module 112 comprises a CPU or a GPU, the control module 112 plans the construction path, and transmits instructions to the construction module 120 through the communication unit to perform mobile construction.
And S4, the control module 112 plans a construction path according to the type, the position and the size information of the obstacle so as to avoid the obstacle for construction.
The indoor ceiling wall has a lot of pipeline to walk line and supporting beam, and these barriers occupy approximately 50% of indoor top surface area, and current construction robot 100 needs manual intervention to be under construction with crossing the barrier, has reduced the intelligent degree of robot 100 construction.
In the application, in the construction process, the perception module 111 firstly detects the position and the size information of the obstacle in the construction direction, determines the type of the obstacle, whether the obstacle is a common pipeline routing or a supporting beam, and the control module 112 re-plans the construction path according to the information, determines the termination position of the construction and the starting position of the next construction to avoid the obstacle or perform the next construction, and obtains the position and the size information of the obstacle by detecting the obstacle in the construction process of the ceiling wall, determines the type of the obstacle, plans different construction paths for different obstacles, effectively avoids the path of the obstacle, greatly reduces the manual participation of the construction robot 100 in the construction process, and improves the construction efficiency.
Preferably, as shown in fig. 2, fig. 2 is a schematic view of a second embodiment of the ceiling wall construction method according to the present invention, and the construction method further includes the steps of:
s5, detecting the vertical wall surface covered by the construction by the perception module 111, and confirming the construction effect;
s6, determining the overlapping area ratio of two adjacent constructions according to the construction effect;
S7, determining the horizontal movement distance according to the coverage width W1 and the overlapping area proportion of one-time construction of the construction module 120. The horizontal moving speed V in the construction direction determines the polishing thickness, the putty coating thickness and the paint spraying thickness, and the faster the speed is, the thinner the thickness is. The construction coverage width W1 is the width of one construction, and in order to ensure that no obvious joint is formed in two constructions, 10% of the adjacent two constructions generally need to overlap.
Preferably, as shown in fig. 4, fig. 4 is a schematic view of a fourth embodiment of the ceiling wall construction method according to the present invention, and step S4 includes the sub-steps of:
S41a, detecting position and size information of an obstacle in the construction process by a perception module 111, and determining the type of the obstacle;
S42a, if the obstacle is a first obstacle, detecting the horizontal distance from the construction module 120 to the first obstacle;
s43a, the control module 112 determines the termination position of the construction module 120 according to the horizontal distance;
Wherein the first obstacle is an indoor support beam of a building.
After the sensing module 111 detects the indoor supporting beam, the control module 112 determines the end position of the current construction and the start position of the next construction, and after the current construction is completed, the next construction is performed in the construction area according to the construction coverage width W1 and the superposition ratio.
Preferably, as shown in fig. 5, fig. 5 is a schematic view of a fifth embodiment of the ceiling wall construction method according to the present invention, and step S4 further includes the sub-steps of:
S41b, if the obstacle is a second obstacle, calculating first position and size information of the second obstacle;
s42b, according to the first position and the size information, the control module 112 determines the end position of the construction, the distance for avoiding the second obstacle to retreat and the start position of the construction again;
the second obstacle is a pipeline wire positioned in the middle of the ceiling wall surface.
After the sensing module 111 detects the pipeline routing on the ceiling surface, the control module 112 performs construction path planning, so that the construction module 120 passes through the pipeline routing construction, determines the end position of the construction and the starting position of continuous construction until the supporting beam or the wall surface is detected, completes the construction, and performs the next construction according to the construction coverage width W1 and the superposition ratio after the completion of the construction.
Preferably, as shown in fig. 6, fig. 6 is a schematic view of a sixth embodiment of the ceiling wall construction method according to the present invention, and step S41b includes the sub-steps of:
S41b1, returning coordinate parameters (X, Y) of the second obstacle relative to a coordinate system of the construction module 120;
S41b2, calculating size information of the second obstacle, wherein the size information includes a horizontal width Wa, a horizontal length Wb, and a protruding height T from the ceiling wall surface.
The size information including the horizontal width Wa, the horizontal length Wb, and the projected height T from the ceiling wall surface is determined as a pipe routing obstacle based on the coordinates (X, Y) of the second obstacle and the size information.
Referring to fig. 7, fig. 7 is a schematic diagram illustrating an embodiment of a module composition of a ceiling wall construction robot 100 according to the present invention, and a ceiling wall construction path planning apparatus 110, which is provided on the construction robot 100 and is configured to plan a walking and construction path of the robot 100, includes: a sensing module 111 and a control module 112;
The sensing module 111 is in communication connection with the control module 112 and is used for detecting position and size information of the obstacle in the construction process and determining the type of the obstacle; the sensing module 111 may include a first sensing unit and a second sensing unit, wherein the first sensing unit may be composed of one RGB camera, and the second sensing unit may be composed of one or more of a laser radar, a millimeter wave radar, an ultrasonic radar, a depth camera, an RGB camera, and an infrared camera. The first sensing unit and the second sensing unit transmit data to the control module 112, the control module 112 calculates the data, so as to plan a construction path, the control module 112 comprises a CPU or a GPU, the control module 112 plans the construction path, and transmits instructions to the construction module 120 through the communication unit to perform mobile construction.
The control module 112 is configured to plan a construction path according to the type, position and size information of the obstacle, so as to avoid the obstacle for construction.
Further, the obstacles detected by the sensing module 111 include a first obstacle and a second obstacle, wherein the first obstacle is an indoor support beam of a building, and the second obstacle is a pipeline line positioned in the middle of a ceiling wall.
After the sensing module 111 detects the indoor supporting beam, the control module 112 determines the end position of the current construction and the start position of the next construction, and after the current construction is completed, the next construction is performed in the construction area according to the construction coverage width W1 and the superposition ratio.
After the sensing module 111 detects the pipeline routing on the ceiling surface, the control module 112 performs construction path planning, so that the construction module 120 passes through the pipeline routing construction, determines the end position of the construction and the starting position of continuous construction until the supporting beam or the wall surface is detected, completes the construction, and performs the next construction according to the construction coverage width W1 and the superposition ratio after the completion of the construction.
Further, the size information of the second obstacle includes a horizontal width Wa, a horizontal length Wb, and a protruding height T from the ceiling wall surface.
The invention relates to a ceiling wall construction robot 100, which utilizes a ceiling wall construction method, and comprises a construction path planning device 110, a construction module 120 and a horizontal moving unit 123, wherein the construction module 120 is used for constructing a preset ceiling wall according to a construction path planned by the planning device 110, as shown in fig. 8, fig. 8 is a schematic diagram of an embodiment of the construction module 120 in ceiling wall construction, and the construction module 120 comprises an AGV navigation unit 121, a vertical lifting unit 122 and a horizontal moving unit 123; the vertical lifting unit 122 is used for driving the vertical construction module 120 to vertically move for construction according to the construction control instruction; the horizontal moving unit 123 is used for driving the robot 100 to horizontally move the corresponding ceiling wall according to the planned path or the control instruction; the AGV navigation unit 121 is used to navigate the horizontal movement and the vertical movement of the robot 100.
By implementing the ceiling wall construction method, the construction path planning device 110 and the construction robot 100, the position and the size information of the obstacle are obtained by detecting the obstacle in the ceiling wall construction process, the type of the obstacle is determined, different construction paths are planned for different obstacles, the path avoidance is effectively carried out on the obstacle, the manual participation of the construction robot 100 in the construction process is greatly reduced, and the construction efficiency is improved.
The foregoing is only illustrative of the present invention and is not to be construed as limiting thereof, but rather as various modifications, equivalent arrangements, improvements, etc., within the spirit and principles of the present invention.
Claims (8)
1. The ceiling wall construction method is characterized by comprising the following steps:
Lifting the construction module to the height of a ceiling wall construction position;
The construction module is horizontally moved at the construction position to construct the ceiling wall surface;
A perception module in the construction module detects the position and size information of the obstacle in the construction direction and determines the type of the obstacle;
The control module plans a construction path according to the type, the position and the size information of the obstacle so as to avoid the obstacle for construction;
the method comprises the following steps: the control module plans a construction path according to the type, the position and the size information of the obstacle so as to avoid the obstacle for construction, and the method comprises the following substeps:
The sensing module detects the position and size information of the obstacle in the construction process and determines the type of the obstacle;
If the obstacle is a first obstacle, detecting the horizontal distance from the construction module to the first obstacle;
The control module determines the termination position of the construction module according to the horizontal distance;
wherein the first obstacle is an indoor support beam of a building;
if the obstacle is a second obstacle, calculating first position and size information of the second obstacle;
According to the first position and the size information, a control module determines the end position of the construction, the distance for avoiding the second obstacle to retreat and the start position of the construction again;
The second barrier is a pipeline wire positioned in the middle of the ceiling wall surface.
2. The ceiling wall construction method according to claim 1, wherein the construction method further comprises the steps of:
The sensing module detects the vertical wall surface covered by the construction and confirms the construction effect;
Determining the overlapping area ratio of two adjacent constructions according to the construction effect;
And determining the horizontal movement distance according to the coverage width W1 of the construction module for one-time construction and the overlapping area proportion.
3. The ceiling wall construction method according to claim 2, wherein the steps of: lifting the construction module to the height of the ceiling wall construction position, and initializing the following steps:
The initializing step includes the steps of:
setting a covering width W1 of the construction module for one-time construction;
Setting the horizontal construction speed V of the construction module.
4. The ceiling wall construction method according to claim 1, wherein the steps of: if the obstacle is a second obstacle, calculating first position and size information of the second obstacle, including the sub-steps of:
Returning coordinate parameters (X, Y) of the second obstacle relative to the construction module coordinate system;
and calculating size information of the second obstacle, wherein the size information comprises a horizontal width Wa, a horizontal length Wb and a protruding height T from the ceiling wall surface.
5. A ceiling wall construction path planning apparatus provided on a construction robot for planning a robot traveling and a construction path, constructed by the construction method according to any one of claims 1 to 4, comprising:
a perception module;
A control module;
The sensing module is in communication connection with the control module and is used for detecting position and size information of the obstacle in the construction process and determining the type of the obstacle;
the control module is used for planning a construction path according to the type, the position and the size information of the obstacle so as to avoid the obstacle for construction.
6. The construction path planning apparatus according to claim 5, wherein the obstacle detected by the sensing module includes a first obstacle and a second obstacle, the first obstacle is an indoor support beam of a building, and the second obstacle is a pipeline track located in the middle of the ceiling wall surface.
7. The construction path planning apparatus according to claim 6, wherein the dimensional information of the second obstacle includes a horizontal width Wa, a horizontal length Wb, and a protruding height T from a ceiling wall surface.
8. A ceiling wall construction robot comprising the construction path planning apparatus according to claim 5, further comprising:
A construction module;
The construction module is used for constructing a preset ceiling wall according to a construction path planned by the planning device, and comprises the following components:
An AGV navigation unit;
A vertical lifting unit;
a horizontal moving unit;
The vertical lifting unit is used for driving the construction module to vertically move for construction according to the construction control instruction;
The horizontal moving unit is used for driving the robot to horizontally move the corresponding ceiling wall according to the planned path or the control instruction; the AGV navigation unit is used for navigating horizontal movement and vertical movement of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111044611.2A CN113741465B (en) | 2021-09-07 | 2021-09-07 | Ceiling wall construction method, path planning device and construction robot |
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| CN202111044611.2A CN113741465B (en) | 2021-09-07 | 2021-09-07 | Ceiling wall construction method, path planning device and construction robot |
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| CN113741465A CN113741465A (en) | 2021-12-03 |
| CN113741465B true CN113741465B (en) | 2024-05-03 |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101739030A (en) * | 2009-12-18 | 2010-06-16 | 重庆大学 | Spray robot control system |
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| CN113741465A (en) | 2021-12-03 |
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