CN116838058A - Control method, control system and processor for wall construction robot - Google Patents
Control method, control system and processor for wall construction robot Download PDFInfo
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- CN116838058A CN116838058A CN202310594912.5A CN202310594912A CN116838058A CN 116838058 A CN116838058 A CN 116838058A CN 202310594912 A CN202310594912 A CN 202310594912A CN 116838058 A CN116838058 A CN 116838058A
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- 238000010276 construction Methods 0.000 title claims abstract description 96
- 238000000034 method Methods 0.000 title claims abstract description 76
- 238000001514 detection method Methods 0.000 claims abstract description 129
- 230000007246 mechanism Effects 0.000 claims abstract description 104
- 230000033001 locomotion Effects 0.000 claims abstract description 86
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- 239000007921 spray Substances 0.000 claims description 19
- 238000003860 storage Methods 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 9
- 230000007613 environmental effect Effects 0.000 abstract description 7
- 238000005507 spraying Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 9
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- 238000004590 computer program Methods 0.000 description 7
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- 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
- E04G21/18—Adjusting tools; Templates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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Abstract
The embodiment of the invention provides a control method, a control system and a processor for a wall construction robot, and belongs to the technical field of building machinery. The wall construction robot comprises a working body and a moving mechanism for bearing the working body, wherein a first distance detection device and a second distance detection device which face downwards are arranged on the working body or the moving mechanism, a marker is arranged on the ground where the wall construction robot is located, and the control method comprises the following steps: acquiring a first position and a second position corresponding to the movement mechanism when the first distance detection device and the second distance detection device are triggered respectively in the process that the movement mechanism moves towards the marker; determining a target position of the movement mechanism according to the first position and the second position; controlling the movement mechanism to move to a target position; the operation body is controlled to rotate until the first distance detection device and the second distance detection device are triggered simultaneously. The embodiment of the invention can improve the environmental adaptability of the wall construction robot.
Description
Technical Field
The invention relates to the technical field of building machinery, in particular to a control method, a control system and a processor for a wall construction robot.
Background
Traditional building construction operations (such as plastering operation, wall polishing operation and the like) are dependent on manual work, the technical level requirements on construction workers are high, and along with the rising of labor cost and the aggravation of the aging trend of the construction workers, the wall construction robot gradually replaces manual work to perform corresponding building construction operations.
Wall construction robots typically require leveling prior to performing construction operations on the wall. The leveling method of the existing wall construction robot is generally as follows: and taking a laser beam surface formed by laser lines which are emitted by the fixedly arranged laser line projector and are parallel to an ideal wall surface as a reference standard for leveling, and photographing the laser lines through an image sensor arranged on the wall surface construction robot so as to level. However, the method is harsh to the use environment of the wall construction robot, and in the environment with brighter light, the image sensor is difficult to identify the laser line emitted by the laser line projector, so that the problem of low environmental adaptability exists.
Disclosure of Invention
The embodiment of the invention aims to provide a control method and a control system for a wall construction robot, a processor and a storage medium, so as to solve the problem of low environmental adaptability in the prior art.
In order to achieve the above object, a first aspect of the embodiments of the present invention provides a control method for a wall construction robot, the wall construction robot including a working body and a movement mechanism for carrying the working body, a first distance detection device and a second distance detection device facing downward being provided on the working body or on the movement mechanism, the first distance detection device and the second distance detection device being triggered when a sudden change in distance is detected, a marker being provided on a ground surface on which the wall construction robot is located, the height of the marker being greater than a preset height threshold, the control method comprising:
acquiring a first position and a second position corresponding to the movement mechanism when the first distance detection device and the second distance detection device are triggered respectively in the process that the movement mechanism moves towards the marker;
determining a target position of the movement mechanism according to the first position and the second position;
controlling the movement mechanism to move to a target position;
the operation body is controlled to rotate until the first distance detection device and the second distance detection device are triggered simultaneously.
In an embodiment of the present invention, determining a target position of a movement mechanism according to a first position and a second position includes: when the first distance detecting device and the second distance detecting device are symmetric about the middle vertical plane of the work body, the target position is determined to be the middle position between the first position and the second position.
In an embodiment of the present invention, determining a target position of a movement mechanism according to a first position and a second position includes: under the condition that the first distance detection device and the second distance detection device are not bilaterally symmetrical relative to the middle vertical plane of the operation main body, acquiring the horizontal distance ratio of the first distance detection device and the second distance detection device to the middle vertical plane respectively; the first position, the second position, and the horizontal distance ratio are determined to determine the target position.
In the embodiment of the invention, the marker is arranged on the ground between the wall surface to be operated and the wall surface construction robot, the operation main body is provided with a third distance detection device and a fourth distance detection device which face the front side of the operation main body, and the movement mechanism comprises a left pulley and a right pulley; before the first position and the second position corresponding to the movement mechanism when the first distance detection device and the second distance detection device are triggered respectively are obtained, the method further comprises the steps of: acquiring a first distance and a second distance between the working body and the wall surface to be worked, which are respectively detected by a third distance detection device and a fourth distance detection device; and controlling the rotating speeds of the left pulley and the right pulley according to the first distance and the second distance under the condition that the difference value of the first distance and the second distance is not in the preset difference value range until the difference value is in the preset difference value range.
In the embodiment of the invention, the movement mechanism is provided with a leveling cylinder, and the movement mechanism or the operation main body is provided with an inclination angle detection device; the control method further comprises the following steps: acquiring the inclination angle of a moving mechanism or a working body detected by an inclination angle detection device; and adjusting the leveling cylinder according to the inclination angle until the movement mechanism or the working body keeps horizontal.
In the embodiment of the invention, the control method further comprises the following steps: after the operation main body finishes the operation of the wall surface to be operated of the current channel, the movement mechanism is controlled to move to the next wall surface to be operated according to the preset channel changing and traversing distance, wherein the preset channel changing and traversing distance is the difference value between the width of each wall surface to be operated and the width of the repeated operation area.
In the embodiment of the invention, the wall construction robot comprises a plastering robot, and the working body comprises a spray head and a plastering device; the control method further comprises the following steps: controlling a spray head to perform guniting operation on a wall surface to be operated so as to obtain a guniting wall surface; and controlling the plastering device to perform plastering operation on the guniting wall surface.
A second aspect of an embodiment of the present invention provides a processor configured to perform the control method for a wall construction robot according to the above.
A third aspect of the embodiment of the present invention provides a control system for a wall construction robot, the wall construction robot including a working body and a movement mechanism for carrying the working body, the working body or the movement mechanism being provided with a first distance detection device and a second distance detection device facing downward, the first distance detection device and the second distance detection device being triggered when an abrupt change in distance is detected, the control system including: the marker is arranged on the ground where the wall construction robot is located, and the height of the marker is larger than a preset height threshold value; and a processor according to the above.
A fourth aspect of the embodiments of the present invention provides a machine-readable storage medium, on which a program or instructions are stored, which when executed by a processor, implement a control method for a wall construction robot according to the above.
According to the technical scheme, in the process that the moving mechanism moves towards the marker, the first position and the second position corresponding to the moving mechanism are acquired when the first distance detection device and the second distance detection device are triggered respectively, the target position of the moving mechanism is determined according to the first position and the second position, the moving mechanism is controlled to move to the target position, and the operation main body is controlled to rotate until the first distance detection device and the second distance detection device are triggered simultaneously. According to the technical scheme, the laser line projector and the image sensor do not need to be relied on, the first distance detection device and the second distance detection device emit distance detection signals downwards, so that the influence of strong light in the environment can be avoided, the wall construction robot can still stably and accurately finish leveling action in a brighter environment, the environmental adaptability of the wall construction robot is improved, the target position of the moving mechanism is determined according to the first position and the second position which correspond to the first distance detection device and the second distance detection device when the first distance detection device and the second distance detection device are triggered, the moving mechanism is controlled to reach the target position, and then the operating main body is controlled to rotate to the position where the first distance detection device and the second distance detection device are triggered simultaneously, so that the leveling precision of the wall construction robot can be improved, and the subsequent operating quality of the wall construction robot is guaranteed.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain, without limitation, the embodiments of the invention. In the drawings:
fig. 1 schematically illustrates a flow chart of a control method for a wall construction robot in an embodiment of the present invention;
fig. 2 schematically illustrates a structural diagram of a wall construction robot in an embodiment of the present invention;
FIG. 3 schematically illustrates a side view of a wall construction robot operation in an embodiment of the present invention;
FIG. 4 schematically illustrates a top view of a wall construction robot operation in an embodiment of the present invention;
fig. 5 schematically illustrates a schematic view of accurate leveling of a working device of a wall construction robot in an embodiment of the present invention;
fig. 6 schematically illustrates a control flow diagram of accurate leveling of a working device of a wall construction robot in an embodiment of the present invention;
fig. 7 schematically shows a flow chart of a plastering method of a plastering robot in an embodiment of the invention;
Fig. 8 schematically shows a schematic diagram of a movement trace of a spray head in a grouting process of a plastering robot according to an embodiment of the invention.
Description of the reference numerals
100. Working device 200 chassis
300. Lifting device 400 recycling bin
500. Electric control system
Detailed Description
The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
Fig. 1 schematically shows a flow chart of a control method for a wall construction robot in an embodiment of the invention. As shown in fig. 1, in an embodiment of the present invention, there is provided a control method for a wall construction robot, where the wall construction robot includes a working body and a movement mechanism for carrying the working body, a first distance detecting device and a second distance detecting device facing downward are provided on the working body or on the movement mechanism, the first distance detecting device and the second distance detecting device are triggered when a sudden change in distance is detected, a marker is provided on a ground where the wall construction robot is located, and a height of the marker is greater than a preset height threshold, and the control method is described as applied to a processor, where the control method may include the following steps:
step S102, acquiring a first position and a second position corresponding to the movement mechanism when the first distance detection device and the second distance detection device are triggered respectively in the process that the movement mechanism moves towards the marker.
Step S104, determining the target position of the movement mechanism according to the first position and the second position.
Step S106, controlling the movement mechanism to move to the target position.
Step S108, controlling the operation main body to rotate until the first distance detection device and the second distance detection device are triggered simultaneously.
It is to be understood that the wall construction robot is a mechanical device that performs a wall construction work or operation, for example, when the wall construction work is a plastering work, the wall construction robot may be a plastering robot. In addition, wall construction operations may include, but are not limited to, wall sanding, wall tile placement, and the like. The wall construction robot may include a working body and a movement mechanism for carrying the working body, where the working body may be used to perform a specific wall construction operation, for example may include a plastering panel, etc., and the movement mechanism may be used to implement movement and in-situ steering actions in different directions (e.g., front, back, left, right), and may be adapted to various working spaces of different sizes, for example may include a chassis, etc. The first distance detecting means and the second distance detecting means are devices or means for detecting distance, and may be, for example, laser distance measuring sensors or ultrasonic distance measuring sensors equidistant measuring devices. The working body or the movement mechanism may be provided with first and second downward facing distance detecting means, and it is understood that the first and second distance detecting means are both downward facing, that is, the first and second distance detecting means may emit downward a distance detecting signal, and the first and second distance detecting means trigger when an abrupt change in the distance signal is detected, for example, when an abrupt change in the distance measurement value of 3cm occurs.
Further, the first distance detecting device and the second distance detecting device may be provided at both left and right ends of the lower end face of the work body or the movement mechanism, or may be provided at both left and right side faces of the work body or the movement mechanism. The marker is an object with a marking or reference function, such as a marking square tube or a marking round tube, and the like, and is arranged on the ground where the wall construction robot is located, the height of the marker is larger than a preset height threshold, the preset height threshold is a preset threshold with a certain height, and the specific numerical value of the marker can be set according to actual application scenes, such as 3cm or 5cm, and the like. It will be appreciated that when a distance detection signal (e.g. a laser signal) emitted by the first distance detection device and/or the second distance detection device arrives on the marker, the detection distance of the first distance detection device and/or the second distance detection device is mutated at this time, so that the first distance detection device and/or the second distance detection device triggers. The first position is the position of the moving mechanism when the first distance detection device is triggered, and the second position is the position of the moving mechanism when the second distance detection device is triggered. The target position is a desired or ideal position of the movement mechanism that facilitates leveling.
Specifically, the processor may control the movement mechanism to carry the operation body to move towards the identifier, and in this movement process, if the first distance detection device and the second distance detection device are triggered at different time points, that is, are not triggered simultaneously, the processor may acquire a first position and a second position corresponding to the movement mechanism when the first distance detection device and the second distance detection device are triggered respectively, and determine the target position of the movement mechanism according to the first position and the second position. Further, the specific determining method of the target position may select the corresponding target position determining method according to the specific mounting positions of the first distance detecting device and the second distance detecting device, for example, in an embodiment, in a case where the first distance detecting device and the second distance detecting device are symmetric left and right with respect to a median plane of the working body, the processor may determine the target position as an intermediate position between the first position and the second position, that is, if a line on which the first distance detecting device and the second distance detecting device are located is substantially parallel to the target working wall surface and the distances between the first distance detecting device and the second distance detecting device are equal to the median plane of the working body, respectively, the target position of the moving mechanism is the intermediate position between the first position and the second position. After determining the target position of the movement mechanism, the processor may control the movement mechanism to move to the target position and control the operation body to rotate until the first distance detection device and the second distance detection device are triggered simultaneously, wherein the operation body rotation control may be performed by directly controlling the operation body to rotate, at this time, the movement mechanism may be kept motionless and the operation body may rotate around the rotation center, or may be performed by indirectly controlling the operation body rotation through controlling the movement mechanism rotation, that is, by controlling the movement mechanism and the operation body to rotate together.
According to the control method for the wall construction robot, in the process that the moving mechanism moves towards the marker, the first position and the second position corresponding to the moving mechanism are acquired when the first distance detection device and the second distance detection device are triggered respectively, the target position of the moving mechanism is determined according to the first position and the second position, the moving mechanism is further controlled to move to the target position, and the operation body is controlled to rotate until the first distance detection device and the second distance detection device are triggered simultaneously. According to the control method, a laser line projector and an image sensor are not required to be relied on, and the first distance detection device and the second distance detection device emit distance detection signals downwards, so that the influence of strong light in the environment can be avoided, the wall construction robot can still stably and accurately finish leveling action in a brighter environment, the environmental adaptability of the wall construction robot is improved, the target position of the moving mechanism is determined according to the first position and the second position corresponding to the first position and the second position when the first distance detection device and the second distance detection device are triggered respectively, the moving mechanism is controlled to reach the target position, and then the operation main body is controlled to rotate to the position where the first distance detection device and the second distance detection device are triggered simultaneously, so that the leveling precision of the wall construction robot can be improved, and the subsequent operation quality of the wall construction robot is guaranteed.
In one embodiment, determining a target position of the movement mechanism based on the first position and the second position includes: under the condition that the first distance detection device and the second distance detection device are not bilaterally symmetrical relative to the middle vertical plane of the operation main body, acquiring the horizontal distance ratio of the first distance detection device and the second distance detection device to the middle vertical plane respectively; the first position, the second position, and the horizontal distance ratio are determined to determine the target position.
It should be understood that, the case where the first distance detecting device and the second distance detecting device are not bilaterally symmetrical with respect to the middle vertical plane of the working body refers to the case where the connecting line of the first distance detecting device and the second distance detecting device is substantially parallel to the target working wall surface and the distances between the first distance detecting device and the second distance detecting device and the middle vertical plane of the working body are respectively unequal, at this time, the processor may acquire the pre-stored horizontal distance ratio of the first distance detecting device and the second distance detecting device to the middle vertical plane of the working body, so as to determine the target position of the moving mechanism according to the first position, the second position and the horizontal distance ratio, for example, if the first distance detecting device and the second distance detecting device are triggered first and then, the horizontal distance ratio of the first distance detecting device and the second distance detecting device to the middle vertical plane is 3:5, at this time, the processor may determine that the distance between the first position and the second position starts to retreat by the distance of 5/8, and the target position of the moving mechanism is reached when the first position and the second distance ratio is triggered after the first distance detecting device is triggered.
In the embodiment of the application, the condition that the first distance detection device and the second distance detection device are not symmetrically distributed along the middle vertical plane of the working body is considered, so that the flexible leveling of the wall construction robot can be realized according to the position combination of different distance detection devices.
In some embodiments, the length of the marker may be greater than the distance between the first and second distance detection devices to ensure that the first and second distance detection devices can trigger simultaneously during leveling of the wall construction robot.
In one embodiment, the marker is arranged on the ground between the wall surface to be worked and the wall surface construction robot, a third distance detection device and a fourth distance detection device facing the front side of the working body are arranged on the working body, and the movement mechanism comprises a left pulley and a right pulley; before the first position and the second position corresponding to the movement mechanism when the first distance detection device and the second distance detection device are triggered respectively are obtained, the method further comprises the steps of: acquiring a first distance and a second distance between the working body and the wall surface to be worked, which are respectively detected by a third distance detection device and a fourth distance detection device; and controlling the rotating speeds of the left pulley and the right pulley according to the first distance and the second distance under the condition that the difference value of the first distance and the second distance is not in the preset difference value range until the difference value is in the preset difference value range.
It will be appreciated that the third distance detecting device and the fourth distance detecting device may be disposed on the front end surface or the end surfaces on the left and right sides or the upper end surface of the work body, and may be, for example, ultrasonic distance measuring sensors, laser distance measuring sensors, or sensors such as an electronic compass. The movement mechanism may include left and right pulleys, i.e., left and right pulleys, and the specific number of left and right pulleys may not be limited. The wall surface to be operated is the wall surface which needs to be subjected to construction operation. The first distance is the distance between the wall construction robot detected by the third distance detection device and the wall to be worked, and the second distance is the distance between the wall construction robot detected by the fourth distance detection device and the wall to be worked. The preset difference range is a smaller distance difference range between the preset first distance and the preset second distance.
As the wall surface to be worked is often uneven, the distance values measured by the third distance detecting device and the fourth distance detecting device are only used as preliminary positioning references of the wall surface construction robot, namely coarse leveling is performed before accurate leveling is performed, specifically, before the first position and the second position corresponding to the movement mechanism when the first distance detecting device and the second distance detecting device are triggered respectively are acquired by the processor, the first distance and the second distance between the working main body and the wall surface to be worked, which are detected by the third distance detecting device and the fourth distance detecting device respectively, are acquired first, the first distance and the second distance are compared, and when the difference value of the first distance and the second distance is not within the preset difference value range, the rotating speed of the left pulley and the right pulley can be controlled by the processor according to the first distance and the second distance until the difference value of the first distance and the second distance is within the preset difference value range, and then accurate leveling is performed.
In the embodiment of the application, the third distance detection device and the fourth distance detection device which face the front side of the operation main body are additionally arranged, so that the movement direction of the wall construction robot can be primarily controlled according to the distance values measured by the third distance detection device and the fourth distance detection device, rough leveling is realized, the subsequent accurate leveling time can be reduced, and the leveling efficiency is improved.
In one embodiment, the movement mechanism is provided with a leveling cylinder, and the movement mechanism or the operation main body is provided with an inclination angle detection device; the control method further comprises the following steps: acquiring the inclination angle of a moving mechanism or a working body detected by an inclination angle detection device; and adjusting the leveling cylinder according to the inclination angle until the movement mechanism or the working body keeps horizontal.
It will be appreciated that the levelling cylinder may support the motion mechanism so as to vary the height of the motion mechanism, and may be a plurality, for example 3 or 4. When the motion mechanism is a chassis, the leveling cylinder may be a chassis leveling cylinder. The inclination angle detection device is arranged on the moving mechanism or the working body and can be used for detecting the inclination angle of the moving mechanism or the working body and the horizontal plane, such as an inclination angle sensor and the like.
Specifically, the processor may acquire the tilt angle of the moving mechanism or the work subject detected by the tilt angle detecting device, and adjust the leveling cylinder according to the tilt angle until the moving mechanism or the work subject is kept horizontal, for example, when the moving mechanism is not kept at a basic level with the horizontal plane (for example, in a state of being inclined to the left, right, or front, high, rear, low), the processor may adjust the leveling cylinder to achieve leveling of the moving mechanism so that the moving mechanism is kept horizontal with the horizontal plane, or when the owner is not kept at a basic level with the horizontal plane (for example, in a state of being inclined to the left, right, front, high, rear, low), the processor may adjust the leveling cylinder to adjust the height of the moving mechanism so that the work subject is kept horizontal with the horizontal plane.
In the embodiment of the application, the leveling cylinder is adjusted according to the inclination angle by detecting the inclination angle of the moving mechanism or the operation main body and the horizontal plane, so that the leveling of the moving mechanism or the operation main body in the horizontal direction can be realized, namely, the posture of the wall construction robot is adjusted to be in a horizontal state according to the inclination angle detection device arranged on the wall construction robot, thereby ensuring the perpendicularity of the wall to be operated and improving the operation efficiency of the wall construction robot.
In one embodiment, the control method for the wall construction robot further includes: after the operation main body finishes the operation of the wall surface to be operated of the current channel, the movement mechanism is controlled to move to the next wall surface to be operated according to the preset channel changing and traversing distance, wherein the preset channel changing and traversing distance is the difference value between the width of each wall surface to be operated and the width of the repeated operation area.
It can be understood that, in order to avoid the phenomenon of missing operation between each wall to be operated, each wall to be operated is provided with a repeated operation area, the preset lane-changing and traversing distance is the distance that the preset wall construction robot needs to transversely move when changing lanes from the current wall to be operated to the next wall to be operated, specifically, the difference value between the width of each wall to be operated and the width of the repeated operation area, wherein the width of each wall to be operated and the width of the repeated operation area can be preset and determined.
Specifically, the operation body can operate each wall surface to be operated according to a preset track, for example, the preset track is from bottom to top, from left to right, and the like, after the operation body finishes the operation of the wall surface to be operated of the current track, for example, the grouting operation or plastering operation of the wall surface to be operated of the current track is finished, the processor can control the movement mechanism to move to the position of the wall surface to be operated of the next track according to the preset track changing transverse movement distance, namely, the transverse movement distance of the movement mechanism is controlled to be the preset track changing transverse movement distance, so that the operation is performed on the wall surface to be operated of the next track.
In the embodiment of the application, the lane changing and traversing distance of the motion mechanism of the wall construction robot is controlled by presetting the lane changing and traversing distance, so that the phenomenon of missing operation between the walls to be operated can be effectively avoided.
In one embodiment, the wall construction robot includes a plastering robot, and the work body includes a spray head and a plastering device; the control method for the wall construction robot further comprises the following steps: controlling a spray head to perform guniting operation on a wall surface to be operated so as to obtain a guniting wall surface; and controlling the plastering device to perform plastering operation on the guniting wall surface.
It will be appreciated that the plastering robot is a machine device for performing a plastering operation on a wall surface. The spray head may be used for performing a grouting operation and the plastering device may be used for performing a plastering operation, such as plastering a panel. The guniting wall surface is a wall surface to be operated after the guniting operation is completed. Further, in some embodiments, the spray head can reciprocate left and right under the action of the driving device to perform the spraying operation.
Specifically, the processor can control the spray head to perform the grouting operation on the wall surface to be operated, so that the grouting wall surface can be obtained, and after the grouting operation of each wall surface to be operated is completed, the processor controls the plastering device to perform plastering operation on each grouting wall surface. Further, in some embodiments, the plastering panel can completely cover the gunite area near the gunite start point, thereby avoiding missing a doctor.
In the embodiment of the application, when the wall construction robot is a plastering robot, the plastering quality of the plastering robot can be ensured by controlling the plastering robot to perform plastering operation after the plastering operation is performed.
The wall surface construction robot is taken as a plastering robot for illustration, plastering means that a layer of mortar is arranged on the surface of a wall body, and the plastering is an important link in building construction, and the quality of construction directly influences subsequent putty construction. The traditional plastering operation is highly dependent on manual work, the technical level requirement on construction workers is high, and along with the rising of labor cost and the aggravation of the aging trend of construction workers, the plastering robot replaces manual plastering operation.
But because the plastering construction quality requirement is very high: the perpendicularity and flatness of the wall surface are required to be smaller than 4mm in the range of 2 meters in common plastering deviation, and the high-grade plastering deviation is required to be smaller than 3mm, so that higher requirements are provided for the operation precision of the plastering robot. When the leveling of the plastering robot is carried out in the prior art, a laser beam surface emitted by a laser line projector is generally adopted as a reference standard for leveling a plastering panel, the scheme has a harsh use environment, the sensor is difficult to identify the laser in a brighter environment, the diameter of the laser beam is continuously increased along with the change of the distance from a light source, and the reference precision may not be expected. Meanwhile, the wall surface to be painted/plastered is often uneven, if the angle of the plastering panel is adjusted according to the distance between the sensor and the measured wall surface to be painted/plastered, the problems that the height difference and the inclination and the unevenness of the plastering surface occur among the plastering surfaces in the moving process of the plastering panel are easy to occur. The application provides a control method for a wall construction robot, which can solve the problems of height difference and inclination and unevenness of plastering surfaces of each plastering surface caused by the moving process of a plastering panel in a lane changing process, thereby ensuring the plastering quality of the robot.
Specifically, as shown in fig. 2, 3 and 4, the plastering robot mainly comprises a motion mechanism (including a chassis and a lifting device), a working device (i.e., a working body), and an electric control system (i.e., a processor or a controller). The chassis can be provided with 4 wheel hub motors capable of steering independently, and can move back and forth, left and right and steer in situ by controlling the direction and the rotation direction of the wheels, so that the chassis is flexible to move, and is suitable for various narrow working spaces. In addition, chassis bottom is equipped with 3 leveling electric cylinders, and three leveling electric cylinders can support the robot, adjusts the robot gesture to the horizontality according to the inclination sensor who installs on the robot, and elevating gear vertically goes up and down this moment to the straightness that hangs down of assurance wall of plastering. The lifting device is arranged on a sliding rail on the chassis and can move forwards and backwards along the chassis by a certain distance d1. The lifting device is provided with a working device, and the working device can move up and down and back and forth under the driving of the lifting device. The working device is provided with a spray head and a plastering panel, and the spray head can reciprocate left and right under the action of the driving device, so that the plastering operation is performed. The working device is provided with a rotary hinge point O, as shown in figure 5, and the working device can rotate left and right by a certain angle around the hinge point O under the action of the other driving device, so that the orientation of the plastering panel is adjusted. Ultrasonic ranging sensors (namely a third distance detection device and a fourth distance detection device) are symmetrically arranged on the front end face of the working device in a left-right mode, and the distance between the left end face and the right end face of the working device and a wall can be measured. Because the wall surface to be worked is often uneven, the distance value measured by the ultrasonic ranging sensor is only used as a preliminary positioning reference of the robot. The robot can primarily control the motion direction according to the distance value measured by the left and right ultrasonic ranging sensors or the sensors such as an electronic compass. Laser distance measuring sensors (namely a first distance detecting device and a second distance detecting device) are symmetrically arranged on the left and right sides of the lower end face of the working device and are used for measuring the distance between the working device and the ground/mark square tube (namely a mark). The wall construction robot carries out accurate leveling on the working device based on the laser ranging sensor, so that the plastering panel is parallel to the mark square tube. The detailed process is as follows: as shown in FIG. 5, when the working device gradually approaches the wall, at least one laser ranging sensor emits laser to the square steel frame of the sign, the measured distance value of the laser ranging sensor is suddenly changed (if the side length of the square tube section is 3cm, the measured distance value is suddenly changed by about 3cm at this time), and the laser ranging sensor is triggered. As shown in fig. 6, by controlling the forward and backward movement of the lifting device and the angle of the working device around the hinge point O, the left and right laser ranging sensors are triggered simultaneously, so that the plastering panel is parallel to the square marker tube. In one example, the laser ranging sensor may be preferably a triangulation laser sensor with a small laser beam diameter, so as to ensure the triggering precision of the laser ranging sensor and improve the parallelism of the plastering panel and the marking square tube. When the working device performs accurate leveling action, the working device is closer to the ground, for example, the set distance is 10 cm-20 cm, so that the influence of strong light can be greatly reduced, and the robot can still stably and accurately finish the leveling function of the plastering panel in a brighter environment. The detailed plastering method can be shown in fig. 7, and the specific steps are as follows:
The first step: ground placement reference identification: the worker horizontally arranges the mark square tube on the ground near the wall bottom according to the laser projected by the laser level meter, and measures the distance d2 between the square tube and the wall.
And a second step of: inputting relevant operation parameters: relevant parameters include, but are not limited to, square tube width W1, square tube to wall distance d2, plaster thickness H1, plaster wall length L, plaster height H.
And a third step of: robot automatic guniting operation: the robot moves to the starting point of the robot guniting operation based on distance measuring sensors arranged on the working device left and right and according to the distance values between the left and right ends of the working device and the wall, at the moment, the front end face of the working device of the robot is approximately parallel to the wall, the distance values between the left and right ends of the working device and the wall are D1 (according to the spraying construction specification, the distance between the spray head and the wall is recommended to be 150-300 mm). The spray head in the working device performs the spraying operation on the wall surface according to a preset track under the combined drive of the related driving device and the transverse movement of the robot, and the movement track of the spray head is shown in fig. 8. In detail, the spray head is arranged in the working device and can reciprocate left and right under the drive of the spray head driving motor; the working device is arranged on the lifting device and can perform lifting movement. The robot does not move during single-channel spraying, and the spray head is driven by the lifting device and the spray head driving motor to move according to a preset track to finish the spraying of the wall surface. Then the robot carries out lane changing operation: the robot is parked after traversing to the right by a distance S1 to the next operation position, and the spray head completes the wall surface guniting operation according to a preset track. And the process is repeated in a circulating way. And stopping spraying the slurry after the wall surface subjected to the preset slurry spraying operation is sprayed with the slurry. In order to avoid the missing spraying phenomenon between the wall surfaces of each spraying operation, the repeated spraying area exists on each spraying operation surface, and the transition transverse distance S1 is the difference between the width W2 of each spraying wall surface and the width W3 of the repeated spraying area.
Fourth step: robot automatic plastering operation: the robot moves to a plastering operation starting point, the front end face of the robot working device is approximately parallel to the wall, the distance value between the left end and the right end of the working device and the wall is D2, the distance between the plastering panel and the wall is smaller than D1, and D1 is the maximum distance of the lifting device moving back and forth along the chassis, namely the maximum distance of the plastering panel moving forward. In addition, the plastering operation starting point is near the guniting operation starting point, and the plastering panel can completely cover the guniting area, so that the omission of scraping is avoided. The leveling electric cylinder installed below the robot chassis extends out a certain distance, the robot is switched to 3 electric cylinder supporting states, the action of the leveling electric cylinder is controlled based on the inclination angle value of the robot measured by the inclination angle sensor installed on the robot, and the robot chassis is leveled, so that the plastering panel is guaranteed to vertically lift. The robot carries out accurate leveling to the working device based on the distance value measured by the laser ranging sensors which are arranged at the bottom of the working device in bilateral symmetry, so that the plastering panel is parallel to the square tube, and the distance is a fixed value. According to the preset wall plastering thickness h1, the robot drives the plastering panel to move back and forth by a specific distance (d 2-h 1), thereby controlling the plastering thickness. The plastering panel vertically and upwards scrapes the slurry, and after the working device moves to the wall top or the designated height, the working device vertically and downwards moves for a certain distance so as to improve plastering quality, and the plastering operation is completed by the robot. Then the working device moves backwards to the end under the drive of the lifting device, the plastering panel is separated from the wall surface, the chassis supporting electric cylinder is retracted, the robot is switched back to a 4-wheel supporting state, then the robot transversely moves left/right for a certain distance to change channels, in order to avoid the phenomenon of missing scraping between the plastering operation walls, a repeated plastering area exists on each plastering operation surface, and the channel changing transverse moving distance S2 is the difference value between the length of the plastering panel and the width of the repeated plastering area. And then leveling the chassis, accurately aligning the plastering panel, and plastering the panel to finish the next plastering operation, and repeating the steps circularly until the wall surface to be scraped is scraped.
In addition, the mark square tube for ground reference can be replaced by a long level bar or a guiding bar with a level meter so as to horizontally set the reference mark.
According to the control method for the wall construction robot, the reference mark-square tube side line arranged on the ground is used as the leveling reference standard of the plastering panel, and the 2 laser ranging sensors with small beam diameters which are arranged symmetrically left and right are used for identifying the square tube side line in a short distance, so that the problem that the plastering panel has height difference and the plastering surface is inclined and uneven in the changing and moving process, and the plastering quality of the robot is guaranteed. Compared with the existing scheme that the distance from the laser beam surface and equipment to the wall surface to be worked emitted based on the laser demarcation device is used as the leveling reference of the plastering panel, the method has the advantage of higher leveling precision of the plastering panel.
According to the embodiment of the invention, the laser ranging sensor for leveling the plastering panel is arranged on the bottom surface of the working device, when the plastering panel is accurately leveled, the working device is closer to the ground, so that the influence of strong light can be greatly reduced, the robot can still stably and accurately complete the leveling function of the plastering panel in a brighter environment, and the environmental adaptability of the robot is improved. Compared with the existing scheme of taking the laser beam surface emitted by the laser line projector as the leveling reference of the plastering panel, the control method has the advantage of stronger environmental adaptability.
In addition, the control method for the wall construction robot, which is provided by the embodiment of the invention, has the technical scheme that the robot high-precision positioning and posture adjustment based on the ground reference mark and the laser ranging sensor with small beam diameter can be applied to the plastering robot, and can also be applied to the positioning and posture adjustment of devices such as wall polishing, wall brick paving and the like.
The embodiment of the invention also provides a processor configured to execute the control method for the wall construction robot according to the embodiment.
The embodiment of the invention also provides a control system for the wall construction robot, the wall construction robot comprises a working body and a movement mechanism for bearing the working body, the working body or the movement mechanism is provided with a first downward-oriented distance detection device and a second downward-oriented distance detection device, the first distance detection device and the second distance detection device are triggered when the distance is detected to be suddenly changed, and the control system comprises: the marker is arranged on the ground where the wall construction robot is located, and the height of the marker is larger than a preset height threshold value; and a processor according to the above embodiments.
The embodiment of the application also provides a machine-readable storage medium, wherein the machine-readable storage medium stores a program or instructions, and the program or instructions realize the control method for the wall construction robot according to the embodiment when being executed by a processor.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (10)
1. The utility model provides a control method for wall construction robot, its characterized in that, wall construction robot includes the operation main part and is used for bearing operation main part's motion, be provided with on the operation main part or on the motion is provided with first distance detection device and the second distance detection device of orientation down, first distance detection device and second distance detection device trigger when detecting that the distance has suddenly changed, be provided with the sign thing on the ground that wall construction robot was located, the height of sign thing is greater than preset altitude threshold value, the control method includes:
acquiring a first position and a second position corresponding to the movement mechanism when the first distance detection device and the second distance detection device are triggered respectively in the process that the movement mechanism moves towards the marker;
Determining a target position of the movement mechanism according to the first position and the second position;
controlling the movement mechanism to move to the target position;
and controlling the operation main body to rotate until the first distance detection device and the second distance detection device are triggered simultaneously.
2. The control method according to claim 1, characterized in that the determining the target position of the movement mechanism from the first position and the second position includes:
and determining the target position as an intermediate position between the first position and the second position when the first distance detecting device and the second distance detecting device are bilaterally symmetrical about a median plane of the work body.
3. The control method according to claim 1, characterized in that the determining the target position of the movement mechanism from the first position and the second position includes:
acquiring horizontal distance ratio values of the first distance detection device and the second distance detection device to the middle vertical surface respectively under the condition that the first distance detection device and the second distance detection device are not bilaterally symmetrical relative to the middle vertical surface of the working body;
Determining the first position, the second position, and the horizontal distance ratio determines the target position.
4. The control method according to claim 1, wherein the marker is provided on the ground between the wall surface to be worked and the wall surface construction robot, the working body is provided with a third distance detection device and a fourth distance detection device toward the front side of the working body, and the movement mechanism includes left and right pulleys; before the first position and the second position corresponding to the movement mechanism are obtained when the first distance detection device and the second distance detection device are triggered respectively, the method further comprises:
acquiring a first distance and a second distance between the working body and the wall surface to be worked, which are respectively detected by the third distance detection device and the fourth distance detection device;
and controlling the rotating speeds of the left pulley and the right pulley according to the first distance and the second distance under the condition that the difference value between the first distance and the second distance is not in a preset difference value range until the difference value is in the preset difference value range.
5. The control method according to claim 1, wherein the movement mechanism is provided with a leveling cylinder, and the movement mechanism or the work body is provided with an inclination angle detection device; the control method further includes:
Acquiring the inclination angle of the moving mechanism or the working body detected by the inclination angle detection device;
and adjusting the leveling electric cylinder according to the inclination angle until the movement mechanism or the working body keeps horizontal.
6. The control method according to claim 1, characterized in that the control method further comprises:
after the operation main body finishes the operation of the wall surface to be operated of the current channel, the moving mechanism is controlled to move to the next wall surface to be operated according to the preset channel changing and traversing distance, wherein the preset channel changing and traversing distance is the difference value between the width of each wall surface to be operated and the width of the repeated operation area.
7. The control method according to claim 1, wherein the wall construction robot includes a plastering robot, and the work body includes a shower head and a plastering device; the control method further includes:
controlling the spray head to perform guniting operation on the wall surface to be operated so as to obtain a guniting wall surface;
and controlling the plastering device to perform plastering operation on the guniting wall surface.
8. A processor, characterized by being configured to perform the control method for a wall construction robot according to any one of claims 1 to 7.
9. A control system for a wall construction robot, the wall construction robot including a work body and a movement mechanism for carrying the work body, the work body or the movement mechanism being provided with a first distance detection device and a second distance detection device facing downward, the first distance detection device and the second distance detection device being triggered when an abrupt change in distance is detected, the control system comprising:
the marker is arranged on the ground where the wall construction robot is located, and the height of the marker is larger than a preset height threshold value; and
the processor of claim 8.
10. A machine-readable storage medium having stored thereon a program or instructions, which when executed by a processor, implements the control method for a wall construction robot according to any one of claims 1 to 7.
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| CN202310594912.5A CN116838058A (en) | 2023-05-24 | 2023-05-24 | Control method, control system and processor for wall construction robot |
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| CN202310594912.5A CN116838058A (en) | 2023-05-24 | 2023-05-24 | Control method, control system and processor for wall construction robot |
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