Accurate positioning method and device for cast-in-place wall robot

Abstract

The invention discloses an accurate positioning method and device for a cast-in-place wall robot. The positioning method comprises the steps that the robot is provided with a first positioning point and a second positioning point, and the robot is further provided with a tilt angle sensor and a displacement sensor; the robot is guided to reach a specified position through a ranging positioning sensor at the first positioning point and the first target position point; the robot is guided to rotate around the first positioning point through a distance measurement positioning sensor at the second positioning point and a second target position point, so that the second positioning point of the robot coincides with the second target position point; the current posture of the cast-in-place mold on the robot is adjusted through a tilt angle sensor; the distance between the two robots is detected and adjusted through a displacement sensor; through the positioning method, the cast-in-place wall robot carries the cast-in-place mold to enter the target position and is positioned accurately, manual intervention is not needed, and the construction efficiency and the construction quality are effectively improved.

Description

technical field [0001] The invention relates to the technical field of automatic navigation control of robots used in cast-in-place walls in building construction technology, in particular to a precise positioning method and device for cast-in-place wall robots. Background technique [0002] With the continuous development of smart device technology, all walks of life are now prioritizing the use of smart devices to replace labor. The traditional construction industry is a labor-intensive industry with high labor costs and relatively harsh working environment. In this regard, construction robots have also been continuously developed and made great progress in the construction industry recently, such as transferring and installing fixed cast-in-place on construction sites. Mold cast-in-place robots, wall-laying robots, construction robots, welding robots and other types of robots are all used in the construction field. For the application of cast-in-place robots for cast-in-...

AI Technical Summary

Problems solved by technology

However, in the actual construction process, although the currently used positioning system can locate the current coordinates of the cast-in-place robot and plan the moving line by setting the target coordinates, due to the large size of the cast-in-place robot on the wall and the intricate indoor environment, it leads to The current positioning system alone cannot meet the accuracy requirements, and it is necessary to manually fine-tune the cast-in-place robot and the cast-in-place mold on it, which cannot realize unattended work

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