A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Walking construction control system of wall plastering robot
The invention provides a wall plastering robot walking construction control system which comprises a construction and moving reference determining module used for determining the construction reference and the moving reference of a plastering robot, and the moving reference is the control reference of longitudinal movement and rotary movement of a robot chassis; the site reference determination module takes the left/right wall as a site reference to obtain the distance between the plastering robot and the left/right wall; the cross beam/ceiling height acquisition module is used for acquiring height information of a top cross beam/ceiling; the beam boundary acquisition module is used for acquiring position information of a left boundary and a right boundary of a top beam; and the plastering planning module is used for controlling the current plastering height according to the height information of the top cross beam/ceiling and carrying out next plastering planning according to the distance between the plastering robot and the left/right wall and the position information of the left boundary and the right boundary of the top cross beam. The automation degree and stability of the plastering robot in the semi-structured environment can be improved, the construction process is shortened, and the plastering coverage rate is increased.
本发明提供一种墙面抹灰机器人行走施工控制系统，包括：施工和移动基准确定模块，用于确定抹灰机器人的施工基准和移动基准，移动基准为机器人底盘纵向运动和旋转运动的控制基准；站点基准确定模块，以左/右墙作为站点基准，获取抹灰机器人距左/右墙的距离；横梁/天花板高度获取模块，用于获取顶部横梁/天花板的高度信息；横梁边界获取模块，用于获取顶部横梁左边界和右边界的位置信息；抹灰规划模块，根据顶部横梁/天花板的高度信息控制当前抹灰高度，并根据抹灰机器人距左/右墙的距离、顶部横梁的左边界和右边界的位置信息进行下一抹的规划。本发明可以提升半结构化环境中抹灰机器人的自动化程度和稳定性，缩短施工流程，提高抹灰覆盖率。
Walking construction control system of wall plastering robot
The invention provides a wall plastering robot walking construction control system which comprises a construction and moving reference determining module used for determining the construction reference and the moving reference of a plastering robot, and the moving reference is the control reference of longitudinal movement and rotary movement of a robot chassis; the site reference determination module takes the left/right wall as a site reference to obtain the distance between the plastering robot and the left/right wall; the cross beam/ceiling height acquisition module is used for acquiring height information of a top cross beam/ceiling; the beam boundary acquisition module is used for acquiring position information of a left boundary and a right boundary of a top beam; and the plastering planning module is used for controlling the current plastering height according to the height information of the top cross beam/ceiling and carrying out next plastering planning according to the distance between the plastering robot and the left/right wall and the position information of the left boundary and the right boundary of the top cross beam. The automation degree and stability of the plastering robot in the semi-structured environment can be improved, the construction process is shortened, and the plastering coverage rate is increased.
本发明提供一种墙面抹灰机器人行走施工控制系统，包括：施工和移动基准确定模块，用于确定抹灰机器人的施工基准和移动基准，移动基准为机器人底盘纵向运动和旋转运动的控制基准；站点基准确定模块，以左/右墙作为站点基准，获取抹灰机器人距左/右墙的距离；横梁/天花板高度获取模块，用于获取顶部横梁/天花板的高度信息；横梁边界获取模块，用于获取顶部横梁左边界和右边界的位置信息；抹灰规划模块，根据顶部横梁/天花板的高度信息控制当前抹灰高度，并根据抹灰机器人距左/右墙的距离、顶部横梁的左边界和右边界的位置信息进行下一抹的规划。本发明可以提升半结构化环境中抹灰机器人的自动化程度和稳定性，缩短施工流程，提高抹灰覆盖率。
Walking construction control system of wall plastering robot
一种墙面抹灰机器人行走施工控制系统
GAO XUFENG (author) / WU HUA (author) / CHEN YI (author) / WU DONG (author) / WU MEIXIA (author) / LIANG YANXUE (author)
2024-12-20
Patent
Electronic Resource
Chinese
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