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Wall building control method and system

A control method and control system technology, applied in the field of wall-building control methods and control systems, to achieve the effects of small stacking errors and high wall quality

Inactive Publication Date: 2021-01-26
中物智建(武汉)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, and propose a wall-building control method and control system to solve the problem that the existing wall-building robots in the prior art can only assist workers to carry bricks. It is possible to manually control the wall-laying robot to pick up the bricks, and then control the wall-laying robot to move the bricks to the wall to be built and put the bricks down, which requires manual participation in the technical problem of operation control

Method used

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  • Wall building control method and system

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Experimental program
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Embodiment 1

[0044] Such as figure 2 As shown, in this embodiment, the order of stacking bricks is stacked layer by layer from left to right or from right to left.

[0045] Before starting masonry, calculate the length and height of the wall, calculate the number of brick layers required for the wall to be built according to the height of the wall to be built, and calculate the number of brick layers required for the wall to be built according to the length of the wall to be built and the type of bricks used for the wall to be built Determine the number of bricks needed for each brick layer.

[0046] Create a picture file of the wall to be built, each brick corresponds to a brick placement position, and define a brick placement position to be built as the brick placement position to be built. By establishing the picture file of the wall to be built, it is assumed that there are n brick placement positions 6 for the wall to be built according to the order of bricks, n is a positive intege...

Embodiment 2

[0060] Such as Figure 4 As shown, in this embodiment, the order of stacking bricks is stacked according to the area. For the convenience of introduction, the area is divided into the first area 80, the second area 81 and the third area 82 according to the order of masonry.

[0061] Before starting to build the wall, obtain the length and height of the wall, calculate the number of brick layers required for the wall to be built according to the height of the wall to be built, and calculate the number of brick layers required for the wall to be built according to the length of the wall to be built and the type of bricks used for the wall to be built Determine the number of bricks needed for each brick layer. And establish the picture file of the wall body to be built, generate several brick placement positions, and define a brick placement position to be built as the brick placement position to be built. By establishing the picture file of the wall to be built, it is assumed t...

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Abstract

The invention discloses a wall building control method. A wall building robot and a mortar plastering device are included. The wall building control method is characterized by comprising the followingsteps that S1, whether the mortar plastering device is positioned on a wall body to be built or not is judged, and if yes, the next step is carried out; S2, whether the mortar plastering device is located at a to-be-built brick placing position or not is judged, and if yes, the mortar plastering device is controlled to move to expose the to-be-built brick placing position; and S3, a mechanical arm of the robot is controlled to move so as to carry an image acquisition device to shoot an image to acquire a brick taking position and the to-be-built brick placing position. According to the wall building control method, mortar plastering and brick stacking are separated, in the process that the mechanical arm controls a clamping device to clamp bricks, the mortar plastering device synchronously operates to plastering vertical mortar joints and horizontal mortar joints, so that the mechanical arm is directly placed into a brick placing position after clamping the bricks, brick stacking andmortar plastering synchronously operate, the wall building time is shortened, the mortar plastering device is separated from the mechanical arm, the mechanical arm only needs to execute brick stackingoperation, and the action process of the tail end of the mechanical arm is simplified.

Description

technical field [0001] The invention relates to the technical field of construction equipment, in particular to a control method and control system for building walls. Background technique [0002] Existing wall-laying robots can only assist workers to carry bricks. To take and place bricks, the only way to manually control the wall-laying robot is to pick up the bricks, and then control the wall-laying robot to move the bricks to the wall to be built. Not only does it require manual labor to participate in the control of the wall-laying robot, but the bricks are placed unevenly, resulting in poor wall quality. Contents of the invention [0003] The purpose of the present invention is to overcome the above-mentioned technical deficiencies, and propose a wall-building control method and control system to solve the problem that the existing wall-building robots in the prior art can only assist workers to carry bricks. It is possible to manually control the wall-laying robot...

Claims

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Application Information

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IPC IPC(8): E04G21/22B25J5/00B25J9/02
CPCE04G21/22B25J5/00B25J9/02
Inventor 张柏松简雪芹
Owner 中物智建(武汉)科技有限公司
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