A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Building paying-off operation robot, paying-off ink jet system and paying-off method
The invention discloses a paying-off method of a building paying-off operation robot. The paying-off method comprises the following steps that S1, floor CAD data are imported into a path planning program; s2, importing the pay-off operation path data into a terminal, simulating the pay-off operation path data, and issuing the data to a pay-off operation robot; s3, erecting equipment on site, and carrying out coordinate reference calibration; after receiving reflected light of a positioning prism on the paying-off operation robot, the laser tracking measurement instrument feeds back the reflected light to a control system of the paying-off operation robot, measures coordinates of the current paying-off operation robot relative to the laser tracking measurement instrument, and then sends position measurement information to the paying-off operation robot; s4, after receiving the position information sent by the laser tracking measuring instrument, the paying-off operation robot automatically operates to start paying off according to pre-imported paying-off operation path data; and S5, paying-off is completed, and paying-off operation is ended. The influence of uneven ground on ink-jet paying-off can be avoided, and positioning and paying-off are extremely accurate.
本发明公开了一种建筑放线作业机器人放线方法，包括如下步骤：S1：导入楼面CAD数据到路径规划程序中；S2：将放线作业路径数据导入到终端，并对其进行仿真，再下发给放线作业机器人；S3：现场架设设备，进行坐标基准标定；激光追踪测量仪接收放线作业机器人上定位棱镜的反射光后，反馈给放线作业机器人的控制系统，并测量出当前放线作业机器人相对于激光追踪测量仪的坐标，然后向放线作业机器人发送位置测量信息；S4：放线作业机器人接收激光追踪测量仪发送的位置信息后，根据预先导入的放线作业路径数据，自动运行开始放线；S5：放线完毕，结束放线作业。本发明可避免地面不平整对喷墨放线造成的影响，定位和放线极其精准。
Building paying-off operation robot, paying-off ink jet system and paying-off method
The invention discloses a paying-off method of a building paying-off operation robot. The paying-off method comprises the following steps that S1, floor CAD data are imported into a path planning program; s2, importing the pay-off operation path data into a terminal, simulating the pay-off operation path data, and issuing the data to a pay-off operation robot; s3, erecting equipment on site, and carrying out coordinate reference calibration; after receiving reflected light of a positioning prism on the paying-off operation robot, the laser tracking measurement instrument feeds back the reflected light to a control system of the paying-off operation robot, measures coordinates of the current paying-off operation robot relative to the laser tracking measurement instrument, and then sends position measurement information to the paying-off operation robot; s4, after receiving the position information sent by the laser tracking measuring instrument, the paying-off operation robot automatically operates to start paying off according to pre-imported paying-off operation path data; and S5, paying-off is completed, and paying-off operation is ended. The influence of uneven ground on ink-jet paying-off can be avoided, and positioning and paying-off are extremely accurate.
本发明公开了一种建筑放线作业机器人放线方法，包括如下步骤：S1：导入楼面CAD数据到路径规划程序中；S2：将放线作业路径数据导入到终端，并对其进行仿真，再下发给放线作业机器人；S3：现场架设设备，进行坐标基准标定；激光追踪测量仪接收放线作业机器人上定位棱镜的反射光后，反馈给放线作业机器人的控制系统，并测量出当前放线作业机器人相对于激光追踪测量仪的坐标，然后向放线作业机器人发送位置测量信息；S4：放线作业机器人接收激光追踪测量仪发送的位置信息后，根据预先导入的放线作业路径数据，自动运行开始放线；S5：放线完毕，结束放线作业。本发明可避免地面不平整对喷墨放线造成的影响，定位和放线极其精准。
Building paying-off operation robot, paying-off ink jet system and paying-off method
一种建筑放线作业机器人及放线喷墨系统、放线方法
LIU ZIJING (author) / CHENG ZHIJUN (author) / LI LING (author) / ZENG XIANGEN (author) / TAN SHIPING (author) / HU CHUANMING (author) / ZHAO ZHONGWEN (author) / REN CHAOYANG (author) / ZHANG ZHOUQIANG (author)
2023-04-04
Patent
Electronic Resource
Chinese
| British Library Online Contents | 2003
British Library Online Contents | 2003
| British Library Conference Proceedings | 1996