A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Right-angle wall brick masonry method, bricklaying robot, system and storage medium
The invention relates to the technical field of building automation, and discloses a right-angle wall brick building method, a brick building robot, a brick building system and a storage medium. According to the method, whether a to-be-built brick currently grabbed by a brick building mechanical arm is a brick located at the position of a right-angle wall or not is judged; if the to-be-built brick block is the brick block located at the right-angle wall position, image data located below the to-be-built brick block is collected through the image pickup device, and the image data at least comprises a cross-shaped laser face; and adjusting the pose of the to-be-built brick block on the bricklaying mechanical arm based on the reference line in the cross-shaped laser surface, and controlling the bricklaying mechanical arm to build the to-be-built brick block to the corresponding right-angle wall position according to the adjusted pose, so as to solve the problem that the bricklaying mechanical arm collides with the wall surface in an existing positioning mode, so that the bricklaying efficiency of the to-be-built brick block is improved. And the positioning accuracy is influenced.
本发明涉及建筑自动化技术领域，公开了一种直角墙砖块的砌筑方法、砌砖机器人、砌筑系统及存储介质，该方法通过判断所述砌砖机械臂当前抓取的待砌砖块是否为位于直角墙位置的砖块；若是位于直角墙位置的砖块，则利用所述影像拾取装置采集位于所述待砌砖块下方的图像数据，其中，所述图像数据中至少包含十字激光面；基于所述十字激光面中的参考线，对所述待砌砖块在所述砌砖机械臂上的位姿进行调整，并根据调整后的位姿控制所述砌砖机械臂将所述待砌砖块砌筑至对应的直角墙位置上，以解决了现有的定位方式使得砌砖机械臂与墙面发生碰撞，影响定位精准度的问题。
Right-angle wall brick masonry method, bricklaying robot, system and storage medium
The invention relates to the technical field of building automation, and discloses a right-angle wall brick building method, a brick building robot, a brick building system and a storage medium. According to the method, whether a to-be-built brick currently grabbed by a brick building mechanical arm is a brick located at the position of a right-angle wall or not is judged; if the to-be-built brick block is the brick block located at the right-angle wall position, image data located below the to-be-built brick block is collected through the image pickup device, and the image data at least comprises a cross-shaped laser face; and adjusting the pose of the to-be-built brick block on the bricklaying mechanical arm based on the reference line in the cross-shaped laser surface, and controlling the bricklaying mechanical arm to build the to-be-built brick block to the corresponding right-angle wall position according to the adjusted pose, so as to solve the problem that the bricklaying mechanical arm collides with the wall surface in an existing positioning mode, so that the bricklaying efficiency of the to-be-built brick block is improved. And the positioning accuracy is influenced.
本发明涉及建筑自动化技术领域，公开了一种直角墙砖块的砌筑方法、砌砖机器人、砌筑系统及存储介质，该方法通过判断所述砌砖机械臂当前抓取的待砌砖块是否为位于直角墙位置的砖块；若是位于直角墙位置的砖块，则利用所述影像拾取装置采集位于所述待砌砖块下方的图像数据，其中，所述图像数据中至少包含十字激光面；基于所述十字激光面中的参考线，对所述待砌砖块在所述砌砖机械臂上的位姿进行调整，并根据调整后的位姿控制所述砌砖机械臂将所述待砌砖块砌筑至对应的直角墙位置上，以解决了现有的定位方式使得砌砖机械臂与墙面发生碰撞，影响定位精准度的问题。
Right-angle wall brick masonry method, bricklaying robot, system and storage medium
直角墙砖块的砌筑方法、砌砖机器人、系统及存储介质
ZHOU XIANHUA (author) / XIE JUN (author) / CHEN LIN (author) / YANG YUEWU (author) / YANG MIN WOONG (author) / YI XINXIAN (author)
2023-08-29
Patent
Electronic Resource
Chinese
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