Dedicated controller for intelligent wall plastering robot

Abstract

The invention relates to a dedicated controller for an intelligent wall plastering robot. The controller has an automatic control mode and a manual control mode. The controller comprises an ARM processor and a peripheral module. The peripheral module comprises a power module, a laser distance-measuring sensor data receiving module, a DC propulsion motor speed regulation module, a DC lifting motor control module, a stepping motor angle control module, a DC support motor control module, a motor current feedback module, an magnetic encoder interface module, a limit switch interface module and a man-machine interaction module. The controller adopts a median filtering algorithm to carry out filtering and noise reduction on the collected data, and track interpolation calculation is carried out; and an incremental PID algorithm is adopted to carry out rotating speed loop and current loop double closed loop control on the motor. Real-time measurement data is obtained through a laser distance-measuring sensor and a magnetic encoder; and the ARM controller controls each motor of the wall plastering robot to move cooperatively, so that the wall plastering robot is allowed to plaster the wall accurately and smoothly, and the error thickness meets plastering work requirement.

Description

technical field [0001] The invention relates to the field of special controllers for construction robots, in particular to a special controller for an intelligent wall plastering robot, which is characterized in that it can obtain measurement data through a laser ranging sensor and a magnetic encoder, and use a control algorithm to control the intelligent wall The coordinated movement of each motor of the surface plastering robot makes the intelligent wall plastering robot paint the wall accurately and flatly. Background technique [0002] In today's booming construction industry, the process of wall plastering is mostly done by hand. This process accounts for 30%-40% of the total construction period of the entire construction project. It costs a lot of money and the quality is difficult to meet the high standard requirements. . The wall plastering robot will help save nearly 85% of labor costs, increase productivity by 10-15 times, and can complete job tasks in a shorter p...

AI Technical Summary

Problems solved by technology

However, due to the unevenness of the ground or the loose connection of the struts, the struts may not be completely vertical, that is, the plane formed by the two struts cannot be completely parallel to the wall to be painted

If the measurement and adjustment cannot be carried out in time during the operation of the plastering machine, it may lead to uneven thickness of the wall surface after plastering, resulting in rework

Therefore, relying on pure mechanical design, it is impossible to accurately complete the plastering process.

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