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A platform for research: civil engineering, architecture and urbanism
Self-adaptive mechanical structure lifting height calibration method
The invention discloses a self-adaptive mechanical structure lifting height calibration method, and belongs to the technical field of building robots, and an applicable robot comprises a lifting motor, a main lifting device, an auxiliary lifting device, an equipment holder, a camera located at the top of the equipment holder, and a locking mechanism used for locking the main lifting device. The calibration method comprises the steps that the distance Htotal between a ceiling and the ground is measured through a camera; performing surface detection on the ceiling through the camera to obtain observed values of a distance H and an angle alpha from the ceiling to the camera; the actual lifting height H1 of the equipment is equal to Htotal-H; the preset rising height H2 of the equipment holder can be obtained according to the number of rotation turns of the lifting motor, the difference value delta between the H1 and the H2 is the vacancy, and after multiple times of vacancy detection are carried out on different positions, the average value of the delta is taken as the set value of the correction; by adjusting and correcting the set value, the actual lifting height H1 of the equipment is equal to the preset lifting height H2 of the equipment, and self-adaptive correction of the height is achieved.
本发明公开了一种自适应的机械结构升降高度标定方法，属于建筑机器人技术领域，适用的机器人包括升降电机、主升降、从升降和设备云台，位于设备云台顶部的摄像头，用于主升降锁紧的锁紧机构，标定方法包括：通过摄像头测量天花板与地面之间的距离Htotal；通过摄像头对天花板做面检测，得到天花板到摄像头的距离H及角度α的观测值；设备的实际升高高度为H1＝Htotal‑H；根据升降电机的转动圈数即可得到设备云台的预定上升高度H2，H1与H2之间的差值Δ即为虚位，在不同位置做多次虚位检测后，取Δ的平均值作为本次纠正的设定值；通过调节纠正设定值，设备的实际上升高度H1＝设备的预定上升高度H2，实现高度的自适应纠正。
Self-adaptive mechanical structure lifting height calibration method
The invention discloses a self-adaptive mechanical structure lifting height calibration method, and belongs to the technical field of building robots, and an applicable robot comprises a lifting motor, a main lifting device, an auxiliary lifting device, an equipment holder, a camera located at the top of the equipment holder, and a locking mechanism used for locking the main lifting device. The calibration method comprises the steps that the distance Htotal between a ceiling and the ground is measured through a camera; performing surface detection on the ceiling through the camera to obtain observed values of a distance H and an angle alpha from the ceiling to the camera; the actual lifting height H1 of the equipment is equal to Htotal-H; the preset rising height H2 of the equipment holder can be obtained according to the number of rotation turns of the lifting motor, the difference value delta between the H1 and the H2 is the vacancy, and after multiple times of vacancy detection are carried out on different positions, the average value of the delta is taken as the set value of the correction; by adjusting and correcting the set value, the actual lifting height H1 of the equipment is equal to the preset lifting height H2 of the equipment, and self-adaptive correction of the height is achieved.
本发明公开了一种自适应的机械结构升降高度标定方法，属于建筑机器人技术领域，适用的机器人包括升降电机、主升降、从升降和设备云台，位于设备云台顶部的摄像头，用于主升降锁紧的锁紧机构，标定方法包括：通过摄像头测量天花板与地面之间的距离Htotal；通过摄像头对天花板做面检测，得到天花板到摄像头的距离H及角度α的观测值；设备的实际升高高度为H1＝Htotal‑H；根据升降电机的转动圈数即可得到设备云台的预定上升高度H2，H1与H2之间的差值Δ即为虚位，在不同位置做多次虚位检测后，取Δ的平均值作为本次纠正的设定值；通过调节纠正设定值，设备的实际上升高度H1＝设备的预定上升高度H2，实现高度的自适应纠正。
Self-adaptive mechanical structure lifting height calibration method
一种自适应的机械结构升降高度标定方法
DENG YU (author) / YAN QIFAN (author) / HE YANSHAN (author)
2023-06-06
Patent
Electronic Resource
Chinese
IPC:
G01B
MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS
,
Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen
/
E04F
FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
,
Ausbau von Bauwerken, z.B. Treppen, Fußböden
/
G01C
Messen von Entfernungen, Höhen, Neigungen oder Richtungen
,
MEASURING DISTANCES, LEVELS OR BEARINGS
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