Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Masonry constructing method, masonry constructing system and masonry constructing robot
The invention provides a masonry constructing method, a masonry constructing system and a masonry constructing robot, and relates to the field of buildings. The masonry constructing method comprises the following steps: S1, positioning the masonry constructing robot to an operation position of a masonry constructing wall surface; S2, calibrating the three-dimensional position of the masonry constructing robot relative to the masonry constructing wall surface and the inclination angle of the masonry constructing robot relative to the horizontal face to calibrate the pose of the masonry constructing robot relative to the masonry constructing wall surface; and S3, acquiring the pose of a work object by an execution manipulator of the masonry constructing robot. The masonry constructing systemcomprises a light emitter and a light detection assembly, one of the light emitter and the light detection assembly is arranged on the ground, the other of the light emitter and the light detection assembly is arranged on the masonry constructing robot, the light emitter can emit light towards the light detection assembly in the extending direction of the masonry constructing wall surface in thehorizontal direction and can form a line shadow on the ground, and the light detection assembly is used for detecting the position change of an image of the light on the light detection assembly and the position change of the line shadow. The masonry constructing robot comprises the masonry constructing system.
本发明提供一种砌筑方法、砌筑系统及砌筑机器人，涉及建筑领域。砌筑方法包括以下步骤：S1、将砌筑机器人定位至砌筑墙面的作业位置；S2、标定砌筑机器人相对砌筑墙面的三维位置和相对水平面的倾角，以标定砌筑机器人相对砌筑墙面的位姿；S3、砌筑机器人的执行机械手获取作业对象的位姿。砌筑系统包括光线发射器和光线检测组件，光线发射器和光线检测组件中的一者设置于地面，另一者设置于砌筑机器人，光线发射器能够沿砌筑墙面的在水平方向的延伸方向朝光线检测组件发射光线并能够在地面上形成线影，光线检测组件用于检测光线在光线检测组件上的图像的位置变化及线影的位置变化。砌筑机器人包括上述的砌筑系统。
Masonry constructing method, masonry constructing system and masonry constructing robot
The invention provides a masonry constructing method, a masonry constructing system and a masonry constructing robot, and relates to the field of buildings. The masonry constructing method comprises the following steps: S1, positioning the masonry constructing robot to an operation position of a masonry constructing wall surface; S2, calibrating the three-dimensional position of the masonry constructing robot relative to the masonry constructing wall surface and the inclination angle of the masonry constructing robot relative to the horizontal face to calibrate the pose of the masonry constructing robot relative to the masonry constructing wall surface; and S3, acquiring the pose of a work object by an execution manipulator of the masonry constructing robot. The masonry constructing systemcomprises a light emitter and a light detection assembly, one of the light emitter and the light detection assembly is arranged on the ground, the other of the light emitter and the light detection assembly is arranged on the masonry constructing robot, the light emitter can emit light towards the light detection assembly in the extending direction of the masonry constructing wall surface in thehorizontal direction and can form a line shadow on the ground, and the light detection assembly is used for detecting the position change of an image of the light on the light detection assembly and the position change of the line shadow. The masonry constructing robot comprises the masonry constructing system.
本发明提供一种砌筑方法、砌筑系统及砌筑机器人，涉及建筑领域。砌筑方法包括以下步骤：S1、将砌筑机器人定位至砌筑墙面的作业位置；S2、标定砌筑机器人相对砌筑墙面的三维位置和相对水平面的倾角，以标定砌筑机器人相对砌筑墙面的位姿；S3、砌筑机器人的执行机械手获取作业对象的位姿。砌筑系统包括光线发射器和光线检测组件，光线发射器和光线检测组件中的一者设置于地面，另一者设置于砌筑机器人，光线发射器能够沿砌筑墙面的在水平方向的延伸方向朝光线检测组件发射光线并能够在地面上形成线影，光线检测组件用于检测光线在光线检测组件上的图像的位置变化及线影的位置变化。砌筑机器人包括上述的砌筑系统。
Masonry constructing method, masonry constructing system and masonry constructing robot
一种砌筑方法、砌筑系统及砌筑机器人
LI XUECHENG (Autor:in)
30.06.2020
Patent
Elektronische Ressource
Chinesisch
IPC:
E04G
SCAFFOLDING
,
Baugerüste
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