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A docking method and system for a wall-building robot

A wall-building robot and wall-building technology, applied in the processing of building materials, construction, building construction, etc., can solve the problem of low positioning accuracy, achieve precise positioning, and realize the effect of positioning

Active Publication Date: 2022-01-11
深圳中物智建科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to overcome the above-mentioned technical deficiencies, provide a docking method and system of a wall-building robot, and solve the technical problem of low positioning accuracy when the wall-building robot docks and positions bricks in the prior art

Method used

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  • A docking method and system for a wall-building robot

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Embodiment 1

[0016] Such as figure 1 As shown, Embodiment 1 of the present invention provides a wall-building robot docking method, comprising the following steps:

[0017] S1. Carry out binocular vision calibration through multiple calibration bricks with different postures fixed on the wall-laying site;

[0018] S2. Obtain the positioning information of the wall-laying bricks according to the binocular image of the wall-laying bricks;

[0019] S3. Obtaining pose information of grabbing the wall bricks according to the positioning information;

[0020] S4. Grab the wall-laying bricks according to the pose information. .

[0021] In the embodiment of the present invention, a plurality of calibration bricks with different postures are first set up in the wall-laying site, and the binocular vision calibration is performed through a plurality of calibration bricks with different postures to obtain the calibration parameters, and the positioning information is obtained according to the cali...

Embodiment 2

[0049] Embodiment 2 of the present invention provides a wall-building robot docking system, including a binocular vision camera device and an industrial robot;

[0050] The binocular vision camera device is used to perform binocular vision calibration through a plurality of calibration bricks of different postures fixed on the wall-laying site; obtain the location of the wall-laying bricks according to the binocular image of the wall-laying bricks information; according to the positioning information, the pose information of grabbing the wall bricks is obtained;

[0051] The industrial robot is used to grab the wall bricks according to the pose information.

[0052] The wall-building robot docking system provided by the embodiment of the present invention is used to realize the wall-building robot docking method. Therefore, the wall-building robot docking system also has the technical effects of the above-mentioned wall-building robot docking method, and will not be repeated h...

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Abstract

The invention relates to the technical field of building automation, and discloses a wall-building robot docking method and system, including the following steps: performing binocular vision calibration through a plurality of calibration bricks with different postures fixed on the wall-building site; The binocular image of the bricks acquires the location information of the wall-laying bricks; acquires and grabs the pose information of the wall-laying bricks according to the location information; grabs the wall-laying bricks according to the pose information . The invention has the technical effect of high positioning accuracy for wall bricks.

Description

technical field [0001] The invention relates to the technical field of building automation, in particular to a docking method and system for a wall-laying robot. Background technique [0002] The progress of traditional artificial wall construction is slow. The labor intensity is high, and the labor cost is getting higher and higher. With the rapid economic growth and urbanization, wall-building robots have emerged to replace manual wall-building and realize artificial intelligence. When the wall-building robot is doing wall-building work, it usually needs to locate and grab the bricks first, and then it can perform subsequent wall-building actions. Because the construction site is outdoors and affected by the external environment, the bricks are usually scattered and stacked after being transported to the construction site, which brings certain difficulties to the docking and positioning of the bricks, making the positioning accuracy of the bricks impossible to guarantee....

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): E04G21/22
CPCE04G21/22
Inventor 李瑞钰李稳张柏松何勇刘闵华
Owner 深圳中物智建科技有限公司