SU1636556A1 - Method for location control of construction unit on work site - Google Patents

Abstract

The invention relates to construction and can be used to automate the process of laying brick walls in the construction of buildings and structures using special or robotic complexes with laser guidance systems, as well as in other machines and mechanisms, whose location in space is subject to control. Allows to increase the accuracy of control. To achieve this goal, the moments of passage of the laser beams from the sources to the receivers are fixed, the laser beams are periodically rotated at a given speed, the transit time of each beam is measured, and the angular positions of the photodetectors are calculated, which determine the location of the unit, 3 sludge. (L

Description

The invention relates to construction and can be used to automate the process of laying brick walls in the construction of buildings and structures using special machines or robotic complexes with laser guidance systems, as well as in other machines and mechanisms, whose location in space is the object of control.

The aim of the invention is to improve the accuracy of the control.

Figure 1 shows the location of the building and gregata on the working site; FIG. 2 shows one variant of the block diagram of the device for implementing the method; FIG. FIG. 3 is a block diagram of a program that implements the algorithm for the operation of the controller in the device.

h oo

o ate

35

The essence of the method is as follows.

The location of the construction unit (Fig. 1), in this case the brick laying machine, is defined in the rectangular coordinate system, where Y is the coordinate axes, and the straight line represents the section along the longitudinal axis of the aggregate, in which Three quotients of radiation FG, F3 are installed relative to each other. Two sources of laser radiation, I and I2, are used, one of which is set at point 0, corresponding to the origin, and the other is located along the OX axis at a given distance A from the first, while rotating the laser beams periodically around the vertical axes of the sources AND and I, in which the laser beam of each source, successively passing through the receivers "I1, Φ g and Φ;}, is deflected by angles Ј, and 2. 01 and ®2, respectively". The task of determining the location of the building aggregate is solved by a trigonometric method th first graphical construct triangles with vertices at points F Fitting

sources and and and receivers

(

F2.I Fe,

and then describing

these triangles of the quadrangle I1F4F3Ig, where the unknown L is the distance between I) and Df is the distance between AND | and Br is the distance between Hj. and f (; М is the distance between И г and М l is the angle between И (Ф, and Ф (Фз;. is the angle between and Л, Фз; is the angle between Ф (Фэ and,; (, is the angle between Ф)) F5 and.

To obtain the necessary data for calculating the location of the monitored object, successive intervals t ,, t, t, are measured. the transit time of the laser beams from the sources And, and And,

nicknames fz, f and l

g

lu 1

ij, through the reception, by which the angles θ,,, 0, and b are determined. To increase the accuracy of their measurement, it is necessary to stabilize the periods T {and T of the rotation of the laser radiation around the axes of the sources. Then, knowing the value of the stabilized rotation periods of the respective sources, the ratios of the measured time intervals to the rotation periods are determined and, by multiplying the result by 360, the values of the corresponding nodes are obtained:

ten

(P

Then, the distance between the points of emission A and the reception of laser radiation quince, as well as the measured angles, find the coordinates of the building aggregate, the bricklaying machine, for example, using the following mathematical relationships.

Solving the inverse problem, get

Wed, arcctg

;,;

.2:

 In (ГGeGp-g,

- Ctgl

- h

+ Ј.

+ fc "

);

(arcctg

;at,;

f i§: tk §iuiL

L + 9gb a -sin $ i

- ctg

(2)

35

"Fi-ft- ((,

+ 0, + 0,).

Further, by the sine theorem, the sides L, M and the diagonal DI and Dg of the quadrangle are:

(a + b). si5 (s + t2t;

M

D.

(a + b) j. sin (0,

Јa + b sintfi slnCl (3)

)

50

DЈ

(a + b. sin (6 -G0L

From the triangles with vertices Φ and Φ determine the coordinates of these points:

M YcPj D | d-isin i V4)

X

Fe

 D

-Jl - - | - sin ((-) 2;

B

F

Editor I.Shmakova

Compiled by V. Slavutsky

Tehred L. Oliynyk Proofreader M.Sharoshi

Order 302

Circulation 428

VNIIPI State Committee for Inventions and Discoveries at the State Committee on Science and Technology of the USSR 113035, Moscow, Zh-35, Raushsk nab. 4/5

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Claims (1)

Claim A method for controlling the location of a building unit on a work site by fixing the moment of passage of laser beams from sources located at a given distance from each other through radiation photodetectors placed on the unit, characterized in that, in order to increase the control accuracy, the laser beams are periodically rotated with a given speed, measure the transit time of each beam between the photodetectors and calculate the angular position of the photodetectors relative to the radiation source, which determine the place Assumption of the unit. Fia. 3