Intelligent wall building robot suitable for special wall structure

Abstract

The invention relates to the technical field of industrial and civil building, in particular to an intelligent wall building robot suitable for a special wall structure. The robot is used for industrial and civil constructional engineering and is a general trend of scientific and technological development. With the increasing maturity of the artificial intelligence technology, the robot technology, the industrial vision technology and the mechanical and electrical integration automation technology are combined, wall building can be intelligently, independently, high-quality and high-efficiency completed under the condition that manual cooperation is not needed, 'complicated, dangerous, dirty and heavy 'manual operation of wall engineering is avoided, and social benefits and economic benefits are remarkable.

Description

Technical Field

[0001] This invention relates to the field of industrial and civil building engineering technology, and specifically to an intelligent wall-building robot suitable for special wall structures. Background Technology

[0002] Wall engineering is one of the important projects in industrial and civil buildings, mainly involving many aspects such as wall structure safety, construction safety, building operation and maintenance, construction cost, and construction period.

[0003] Using robots in industrial and civil construction projects to replace manual labor that is "difficult, dangerous, dirty, and heavy" is a major trend in technological development.

[0004] The applicant's previously filed patent [Patent Title: An Automatic Wall-Making Machine Using Special Wall Bricks; Patent No. 202010804272.2] discloses an automatic wall-making machine using special wall bricks. The special wall brick is a cuboid with a concave top surface, a convex bottom surface, two flat long sides, and two concave wide sides. The wide sides are provided with gripping grooves for the automatic wall-making machine's mechanical claws. The fully automatic wall-making machine includes a wall-making system, a brick-feeding system, a grouting system, a positioning and ranging system, a power supply system, and a PLC system. The PLC system moves the multi-section robotic arm and mechanical claw of the wall-making system. With the assistance of the positioning and ranging system, the mechanical claws extend into the gripping grooves, grab the special wall bricks from the brick-feeding system, and then lay them on the wall. The PLC system starts the grout pump of the grouting system, opens the electric valve at the nozzle outlet, and uses the grout pipe to inject the grout from the storage tank into the concave part on the top surface of the special wall bricks and the vertical gap at the horizontal connection of the special wall bricks.

[0005] In recent years, with the development of industrial robot vision system technology, the progress of AGV technology and the increasing maturity of artificial intelligence technology, there is a need to invent an intelligent wall-building robot to be used in wall engineering of industrial and civil buildings, so as to achieve the goal of completing wall construction quickly and with high quality without human assistance.

[0006] The production and operation of intelligent bricklaying robots face the following challenges: Challenge 1: Both domestic and international bricklaying robots require human assistance to complete wall construction. The primary goal of this invention is to truly realize the intelligentization of bricklaying robots and the full automation of the bricklaying robot wall construction process, overcoming the industry pain point of requiring human assistance for bricklaying robots and achieving the goal of enabling bricklaying robots to independently complete wall construction projects.

[0007] Challenge 2: The first major hurdle to achieving intelligent bricklaying robots and full automation of wall construction is the issue of the working language of these robots. Besides architectural design, which must be a working language that the bricklaying robot can recognize, the access conditions at the construction site, the on-site structure of the bricklaying operation (wall foundations, beams, columns, embedded parts, etc.), and building material information must all be "translated" into a working language that the bricklaying robot can understand.

[0008] Challenge 3: Given the availability of external information (architectural design, construction site information), the bricklaying robot needs to be able to resolve the uncertainties in both the certainty of the architectural design and the uncertainty of the completed structure at the bricklaying site.

[0009] Challenge 4: Given the characteristics of wall engineering, the wall-building robot needs to have the ability to develop construction plans and work procedures.

[0010] Challenge 5: One characteristic of building construction is the limited height and width of doorways, especially in some craft buildings where the wall height exceeds the doorway height. This places high demands on the mechanical structure design of the bricklaying robot.

[0011] Challenge 6: The bricklaying robot must be capable of autonomous movement, moving from one work surface to another, proactively planning its path, and avoiding obstacles. The bricklaying robot requires data support from a BIM system.

[0012] Challenge 7: When using traditional masonry techniques (using both bricklaying and mortar), the bonding material (mortar) between the bricks may not meet the specifications (mortar fullness).

[0013] Challenge 8: Market acceptance due to industry characteristics (economic environment) raises the question of how to control the production cost of bricklaying robots. Using construction power supplies poses significant safety risks. Using batteries, however, results in high equipment costs, bulky batteries hindering robot movement, and inevitably increasing procurement costs for construction companies.

[0014] Challenge 9: The wall-building robot must have the ability to inspect the quality of the wall and proactively implement strict quality control. Summary of the Invention

[0015] The technical problem to be solved by this invention is to provide an intelligent bricklaying robot for industrial and civil buildings.

[0016] To solve the above problems, the technical solution of the present invention is: the intelligent bricklaying robot includes a central control system, a vision system, a walking system, a bricklaying system, a brick supply system, a grout supply system, and a power and electrical system.

[0017] The central control system includes a computing center and / or cloud computing center, a big data model for wall engineering, an image data transmission and receiving device, a PLC, an HMI control panel, a central control cabinet, and a remote controller.

[0018] The computing center develops construction plans and work procedures, while the cloud computing center provides computing power support for large-scale data computing.

[0019] The wall engineering big data model stores wall models, wall brick (including standard bricks and blocks) models, and construction plan models, which are stored in a computing center and / or cloud computing center.

[0020] The image data transmission receiving device receives instructions and information from the command center, receives architectural designs, and receives image data information transmitted by other systems of the intelligent bricklaying robot; it sends request information to the cloud computing center or BIM system, and sends PLC instructions to other systems of the intelligent bricklaying robot.

[0021] The PLC operates the intelligent bricklaying robot's various systems and equipment according to the received instructions and information, monitors the operating status of each system and equipment, and monitors the quality of the wall project.

[0022] The intelligent bricklaying robot operator inputs instructions and information on the HMI control panel.

[0023] The central control cabinet contains the equipment and materials for installing the central control system.

[0024] The operator of the intelligent bricklaying robot can pause, stop, or resume the operation of the intelligent bricklaying robot via remote control.

[0025] The central control system equipment is installed inside the robot's equipment compartment of the walking system.

[0026] The power supply for the central control system comes from the power supply electrical system.

[0027] The vision system includes 2D robotic industrial cameras, 3D laser scanners, and displacement distance sensors.

[0028] The 2D robot industrial camera is mounted on the robotic arm of the intelligent bricklaying robot; the industrial control computer is installed inside the robot's equipment compartment.

[0029] A 3D laser scanner and a displacement distance sensor are mounted on the robotic arm of the intelligent bricklaying robot.

[0030] The power supply for the vision system comes from the power supply electrical system.

[0031] The walking system includes multiple steering wheels, a lifting platform and lifting device, and a robot equipment compartment.

[0032] The steering wheel of the walking system is controlled by the central control system.

[0033] The lifting platform is mounted on the steering wheel.

[0034] The lifting platform uses a screw-type lifting mechanism and is controlled by a central control system; its external dimensions, including the external dimensions of the 6-axis robot, are smaller than the height and width of a standard doorway.

[0035] Robot equipment installation warehouse lifting platform.

[0036] The central control cabinet, electrical cabinet, bricklaying robot control cabinet, generator set or battery pack and other equipment are installed in the robot equipment compartment.

[0037] The power supply for the walking system comes from the power supply electrical system.

[0038] The masonry system includes a masonry robot, a mechanical gripper, and a complete set of compressed air devices.

[0039] The bricklaying robot uses a multi-axis robotic arm, which comes with its own robot control cabinet and teach pendant.

[0040] The multi-axis robotic arm adopts a folding arm design.

[0041] The bricklaying robot is installed on top of the robot equipment compartment.

[0042] The masonry system contains multiple sets of mechanical claws, including standard mechanical claws and mechanical claws for the top wall bricks.

[0043] The mechanical gripper adopts a clamping mechanical gripper design; the standard mechanical gripper is installed on the end axis of the 6-axis robot; the top wall tile mechanical gripper is installed on the robot's equipment compartment.

[0044] The robotic gripper can grab one or more wall bricks at a time.

[0045] The gripper is powered by a compressed air system.

[0046] The compressed air system includes an air tank and an air pressure monitoring device.

[0047] The power supply for the masonry system comes from the electrical power supply system.

[0048] The brick feeding system includes a brick feeding platform, a conveyor belt, a destacking robot, or a brick-retrieving assist device.

[0049] The brick-feeding platform is equipped with multiple steering wheels, which are controlled by a central control system.

[0050] The brick supply platform is equipped with a screw-driven lifting device, which is controlled by a central control system; its external dimensions are smaller than the height and width of a standard doorway.

[0051] The brick supply platform is equipped with a wall brick sensing device on the conveyor belt.

[0052] The conveyor belt is selected as a folding type complete set of equipment. The starting end of the conveyor belt is connected to a destacking robot or a brick-retrieving assist device; the ending end of the conveyor belt is connected to a brick-supplying platform.

[0053] The depalletizing robot uses a multi-axis robotic arm, which comes with its own robot control cabinet and teach pendant.

[0054] The depalletizing robot is equipped with a complete set of compressed air devices to power its mechanical claws; A multi-axis robotic arm grabs wall bricks and places them on a conveyor belt.

[0055] The brick-retrieving assist device includes a column, a rotating arm, and an assistive robotic arm, which helps manual laborers grab wall bricks and place them on a conveyor belt.

[0056] The power supply for the brick supply system comes from the electrical power system.

[0057] The grouting system includes a mortar mixer, a grouting device, and a grouting device.

[0058] The mortar mixer is selected as a complete set of equipment, and its external dimensions are smaller than the height and width of a standard doorway. The mortar mixer is controlled by a central control system.

[0059] The grouting device is suitable for traditional wall bricks, and the grouting device is suitable for Waller wall bricks (referencing the applicant's previously filed patent [Patent title: An automatic wall-building machine using special wall bricks; Patent No. 202010804272.2]).

[0060] The grout supply device includes a grout tank, a grout pump, grout pipes, a plastering pool, and a liquid level sensor.

[0061] The grout supply device is installed inside the robot equipment compartment; the plastering tank is installed above the robot equipment compartment; the mortar pipe connects the mortar delivery pump and the plastering tank for circulating grout supply.

[0062] Level sensors are installed in mortar tanks and plastering pools.

[0063] The grouting device includes a grouting platform, a grouting pump, a pipe reel, a grouting pipe, a mortar flow regulating valve, a mortar flow sensor, a grouting nozzle box, a grouting outlet electric valve, and a grouting nozzle.

[0064] A grouting platform is installed on the mortar mixer. The grouting equipment is installed on the grouting platform.

[0065] Flexible pipes are selected for grouting and installed on pipe reel; the grouting pipe is connected to the grouting nozzle.

[0066] The grouting outlet electric valve is installed inside the grout nozzle box.

[0067] The power supply for the slurry supply system comes from the electrical power system.

[0068] The power supply electrical system includes power supply, electrical cabinet, distribution cabinet and lighting fixtures.

[0069] The power supply system is powered by a diesel or gasoline generator set or a battery bank.

[0070] The generator set or battery pack is installed inside the robot equipment compartment.

[0071] Electrical control and protection are fed into the PLC.

[0072] Furthermore, standard bricks or blocks (wall bricks) are used as wall materials, and the construction method is selected as the whole-line masonry process. The width of the standard bricks or blocks is the wall thickness.

[0073] In the beams and columns of a building's frame structure, structural grooves are designed to replace the reinforcing steel bars connecting the walls and beams / columns. The width of the structural grooves is the same as the width of a standard brick or block, and the depth of the structural grooves meets the seismic design requirements.

[0074] Furthermore, the central control system, walking system, masonry system, and vision system are connected via wired communication; the central control system, brick supply system, and grout supply system are connected via wireless communication.

[0075] The architectural design received by the intelligent bricklaying robot is a working language that the robot can recognize; the central control system computing center is equipped with software that converts 2D architectural designs into 3D architectural designs.

[0076] Based on the received architectural design and the graphic data returned by the vision system, the computing center and / or cloud computing center select the most suitable wall data model, choose the construction plan and work process, and execute it through the PLC.

[0077] The central control system PLC receives online information from other systems and devices of the intelligent bricklaying robot, instructs them to start and stop, and monitors their operating status online.

[0078] The bricklaying robot's built-in control system monitors the multi-axis robotic arm and the operational status of the bricklaying system. The central control system, through the bricklaying robot's control system, realizes the motion control of the bricklaying system and monitors the multi-axis robotic arm and the operational status of the bricklaying system.

[0079] Furthermore, operators use remote controls or intelligent bricklaying robots to plan their own walking paths and enter the work area; bricks and mortar raw materials are transported to the work area by transport vehicles.

[0080] Furthermore, the intelligent bricklaying robot can be remotely or locally equipped with one operator and one assistant worker to operate and monitor the operation of multiple intelligent bricklaying robots.

[0081] The operator sends images to the intelligent bricklaying robot via an image data transmission receiving device, or inputs brick wall building design, technical parameters, and brick information into the HMI control panel; operates the intelligent bricklaying robot, and monitors its operation.

[0082] The operator uses a remote control to pause, stop, or resume the operation of the intelligent bricklaying robot.

[0083] Furthermore, the masonry system is equipped with a hole cutter to assist workers in drilling multiple holes in traditional wall bricks to produce the top layer of wall bricks.

[0084] The mechanical claw extends into the hole and grabs the top wall bricks that connect the wall to the top beam.

[0085] Furthermore, the bricklaying robot uses a standard mechanical gripper to hold the top layer of bricks, completing the construction of the top layer brick wall that connects the wall to the top beam.

[0086] The bricklaying robot uses a standard mechanical gripper to hold the grouting nozzle box and complete the grouting process.

[0087] Furthermore, the central control system checks the cumulative error in wall construction based on the wall image data returned by the vision system; if it exceeds the design requirements, the central control system instructs the robot to stop working.

[0088] The central control system checks whether the grouting meets the quality requirements based on the wall image data returned by the vision system and the mortar flow data returned by the mortar flow sensor; if the quality requirements are not met, the central control system instructs the robot to stop working.

[0089] Furthermore, the system status of the intelligent bricklaying robot includes: Shutdown state: The entire system is in a stopped state and is not powered.

[0090] Standby mode: The entire system and its subsystems are ready to operate and are in a standby state.

[0091] Manual mode: The entire system is powered on; you can manually operate each subsystem, device and other actuators on the HMI control panel, and set relevant operating / work parameters on the HMI control panel.

[0092] Automatic state: The entire system and its subsystems are in an automatic operation state.

[0093] Furthermore, the intelligent bricklaying robot's fault alarm includes audible and visual alarms: the alarm settings include both sound and light alarms.

[0094] A green indicator light indicates normal or running status; a flashing red indicator light indicates an abnormal or warning status.

[0095] The intelligent bricklaying robot is designed with two levels of faults: Level 1 and Level 2. Level 1 fault is a minor fault; the red indicator light is flashing; the intelligent bricklaying robot can continue to work.

[0096] Level 2 fault is a major fault; the red indicator light flashes and an audible alarm is activated; the intelligent bricklaying robot stops working.

[0097] Furthermore, the intelligent bricklaying robot receives work tasks and architectural designs from the command center, and the central control system obtains construction site information through the BIM system, autonomously plans its walking path, and reaches the work surface.

[0098] The intelligent bricklaying robot uses a 3D laser scanner with a vision system to scan the work surface, obtain on-site building structure information, and obtain wall material information.

[0099] The computing center develops construction plans and work procedures based on the graphic data information returned by the vision system.

[0100] The masonry system, brick supply system, and grout supply system are in place.

[0101] The central control system instructs the brick-feeding platform and conveyor belt to adjust their height.

[0102] The central control system checks and confirms the status of each system device.

[0103] The central control system instructs the brick feeding system to start. The central control system then instructs the destacking robot to sequentially pick up the appropriate wall bricks based on their position on the wall and place them on the conveyor belt. Once the wall bricks reach the brick feeding platform, the brick sensing device is triggered, and the conveyor belt stops.

[0104] The central control system commands the slurry supply system to start.

[0105] The central control system commands the walking system, vision system, and masonry system to start.

[0106] With the help of a 2D robot industrial camera and displacement distance sensor, the bricklaying robot uses a mechanical gripper to pick up wall bricks and lays the brick wall from bottom to top in the same direction.

[0107] With the help of a 2D robotic industrial camera and displacement distance sensor, the bricklaying robot uses a mechanical gripper to grab the grouting nozzle box and inject grout into the wall.

[0108] The computing center checks whether the cumulative error of the wall construction meets the quality requirements based on the wall image data returned by the vision system; and checks whether the grouting meets the quality requirements based on the mortar flow data returned by the mortar flow sensor.

[0109] Furthermore, the bricklaying robot uses a standard mechanical claw to grab wall bricks from the brick supply platform and embed them into the structural groove of one side of the column; then it completes the construction of one layer of wall in the same direction; the last wall brick is embedded into the structural groove of the other side of the column.

[0110] The robotic gripper picks up wall bricks from the brick supply platform. After the wall bricks leave the brick supply platform, the conveyor belt resumes operation and continues to transport wall bricks to the brick supply platform.

[0111] After completing the construction of one layer of wall, the masonry robot grips the grouting nozzle box from the grouting platform, the electric valve at the grouting outlet opens, and the grouting nozzle moves back and forth across the wall surface to inject grout. Once completed, the masonry robot returns the grouting nozzle box to the grouting platform, and the pipe retractor retracts the grouting pipe.

[0112] The bricklaying robot uses a standard mechanical gripper to pick up wall bricks from the brick supply platform and continue laying bricks from bottom to top, completing the construction of the entire wall except for the last layer of bricks connecting the wall and the top beam.

[0113] After each layer of wall is completed, the masonry robot grips the grouting nozzle box from the grouting platform, the electric valve at the grouting outlet opens, and the grouting nozzle moves back and forth across the wall surface to inject grout. Once finished, the masonry robot returns the grouting nozzle box to the grouting platform, and the pipe retractor retracts the grouting pipe.

[0114] The bricklaying robot uses a standard mechanical gripper to hold the top wall bricks from the robot's equipment compartment. The top wall brick gripper extends into the holes of the top wall bricks, grasps the top wall bricks, and embeds them into the structural grooves of the top beam.

[0115] After the top wall is completed, the ordinary mechanical gripper of the bricklaying robot puts the top wall bricks back into the robot's equipment compartment.

[0116] The bricklaying robot grips the grouting nozzle box from the grouting platform, inserts the grouting nozzle into the gap between the wall bricks and the structural groove of the top beam, and the electric valve at the grouting outlet opens, allowing grout to be injected into the gap between the wall bricks and the structural groove of the top beam. After completion, the bricklaying robot returns the grouting nozzle box to the grouting platform, and the hose reel retracts the grouting pipe.

[0117] In summary, this invention has the following beneficial effects: I. Technical Evaluation of the Invention The technical solution of this invention is reliable and feasible.

[0118] II. Economic Evaluation of the Invention This invention has a wide range of applications. According to actual test data, one intelligent bricklaying robot can replace at least 10 workers to complete the same workload. The economic benefits are significant.

[0119] III. Environmental and Safety Assessment of the Invention This invention poses no environmental hazards.

[0120] This invention meets the safety operation standards for wall engineering.

[0121] IV. Social Benefit Assessment of this Invention Using this invention, robots can replace manual labor tasks that are "difficult, dangerous, dirty, and heavy," resulting in significant social benefits. Detailed Implementation

[0122] Example 1 Based on the technical features and process flow, Embodiment 1 of the present invention is implemented in the following manner: S01: The intelligent bricklaying robot receives work tasks and architectural designs from the command center. The central control system obtains construction site information through the BIM system, autonomously plans its walking path, and reaches the work surface.

[0123] S02: The intelligent bricklaying robot uses a 3D laser scanner with a vision system to scan the work surface, obtain on-site building structure information, and obtain wall material information.

[0124] S03: The computing center formulates construction plans and work procedures based on the graphic data information returned by the vision system.

[0125] S04: The masonry system, brick supply system and grout supply system are in place.

[0126] S05: The central control system instructs the brick-feeding platform and conveyor belt to adjust their height.

[0127] S06: The central control system checks and confirms the status of each system device.

[0128] S07: The central control system instructs the brick feeding system to start. The central control system instructs the destacking robot to sequentially grab the appropriate wall bricks based on their position on the wall and place them on the conveyor belt. When the wall bricks reach the brick feeding platform, the brick sensing device is triggered, and the conveyor belt stops.

[0129] S08: The central control system commands the slurry supply system to start.

[0130] S09: The central control system commands the walking system, vision system, and masonry system to start.

[0131] S10: With the help of a 2D robot industrial camera and displacement distance sensor, the bricklaying robot uses a common mechanical gripper to grab wall bricks from the brick supply platform and embed them into the column construction groove on one side. S11: The bricklaying robot completes the construction of the first layer of wall in the same direction; the last wall brick is embedded into the construction groove of the column on the other side.

[0132] S12: The mechanical claw grabs the wall bricks from the brick supply platform. After the wall bricks leave the brick supply platform, the conveyor belt resumes operation and continues to transport wall bricks to the brick supply platform.

[0133] S13: After completing the construction of one wall, the masonry robot, with the help of a 2D robot industrial camera and displacement distance sensor, grips the grouting nozzle box from the grouting platform, opens the grouting outlet electric valve, and the grouting nozzle grouts back and forth on the wall surface.

[0134] S14: With the help of a 2D robot industrial camera and displacement distance sensor, the masonry robot puts the grouting nozzle box back into the grouting platform, and the pipe reel retracts the grouting pipe.

[0135] S15: With the help of a 2D robot industrial camera and displacement distance sensor, the bricklaying robot uses a common mechanical gripper to pick up wall bricks from the brick supply platform and continue laying bricks from bottom to top, completing the construction of the entire wall except for the last layer of bricks connecting the wall and the top beam.

[0136] S16: After each layer of wall is completed, the masonry robot, with the help of a 2D robot industrial camera and displacement distance sensor, grips the grouting nozzle box from the grouting platform, the grouting outlet electric valve opens, and the grouting nozzle grouts back and forth on the wall surface.

[0137] S17: After grouting is completed, the masonry robot, with the help of a 2D robot industrial camera and displacement distance sensor, puts the grouting nozzle box back into the grouting platform, and the pipe reel retracts the grouting pipe.

[0138] S18: With the help of a 2D robot industrial camera and displacement distance sensor, the bricklaying robot uses a common mechanical gripper to hold the top wall bricks from the robot equipment compartment.

[0139] S19: With the help of a 2D robot industrial camera and displacement distance sensor, the mechanical claw of the bricklaying robot extends into the hole of the top wall brick, grabs the top wall brick, and embeds the top wall brick into the top beam structure groove.

[0140] S20: After completing the construction of the top wall, the bricklaying robot, with the help of a 2D robot industrial camera and displacement distance sensor, uses a standard mechanical gripper to return the top wall bricks to the robot's equipment compartment.

[0141] S21: With the help of a 2D robot industrial camera and displacement distance sensor, the masonry robot grips the grouting nozzle box from the grouting platform and inserts the grouting nozzle into the gap between the wall bricks and the structural groove of the top beam. S22: The electric valve for the grouting outlet is opened, and the grouting nozzle injects grout into the gap between the wall bricks and the structural groove of the top beam.

[0142] S23: After grouting is completed, the masonry robot, with the help of a 2D robot industrial camera and displacement distance sensor, puts the grouting nozzle box back into the grouting platform, and the pipe reel retracts the grouting pipe.

[0143] S24: The intelligent bricklaying robot issues an audio-visual prompt on-site, indicating that the bricklaying work on this side of the wall is complete; it sends a work completion message to the command center; the intelligent bricklaying robot moves to the next work surface and continues to build the next wall.

[0144] The basic principles and main features of the present invention have been described above. The description in the specification is only for illustrating the principles of the present invention. Various changes and modifications can be made to the present invention without departing from the spirit and scope of the present invention, and all such changes and modifications fall within the scope of the present invention as claimed.

Claims

1. An intelligent bricklaying robot suitable for special wall structures, characterized in that, It includes a central control system, vision system, walking system, masonry system, brick supply system, grout supply system, and power and electrical system; The central control system includes a computing center and / or cloud computing center, a big data model for wall engineering, an image data transmission and receiving device, a PLC, an HMI control panel, a central control cabinet, and a remote control. The computing center develops construction plans and work procedures, while the cloud computing center provides computing power support for large-scale data computing. The wall engineering big data model stores wall models, wall brick models, and construction plan models in a computing center and / or cloud computing center. The image data transmission receiving device receives instructions and information from the command center, receives architectural designs, and receives image and data information transmitted by other systems of the intelligent bricklaying robot; it sends request information to the cloud computing center or BIM system and sends PLC instructions to other systems of the intelligent bricklaying robot. The PLC operates the start-up, shutdown, and operation of various systems and equipment of the intelligent bricklaying robot according to the received instructions and information, monitors the operating status of various systems and equipment of the intelligent bricklaying robot, and monitors the quality of the wall project. The intelligent bricklaying robot operator can input instructions and information on the HMI control panel; The equipment and materials for installing the central control system in the central control cabinet; The intelligent bricklaying robot operator can pause, stop, or resume the operation of the intelligent bricklaying robot via remote control. The central control system equipment is installed inside the robot's equipment compartment of the walking system; The power supply for the central control system comes from the power supply electrical system; The vision system includes 2D robotic industrial cameras, 3D laser scanners, and displacement distance sensors; A 2D industrial camera is mounted on the robotic arm of an intelligent bricklaying robot; an industrial control computer is installed inside the robot's equipment compartment. A 3D laser scanner and a displacement distance sensor are mounted on the robotic arm of the intelligent bricklaying robot; The power supply for the vision system comes from the power supply electrical system; The walking system includes multiple steering wheels, a lifting platform and lifting device, and a robot equipment compartment; The steering wheel of the walking system is controlled by the central control system; The lifting platform is mounted on the steering wheel; The lifting platform uses a screw-type lifting mechanism and is controlled by a central control system. Its external dimensions, including those of the 6-axis robot, are smaller than the height and width of a standard doorway; Robot equipment installation warehouse lifting platform; The central control cabinet, electrical cabinet, bricklaying robot control cabinet, generator set or battery pack equipment are installed in the robot equipment compartment; The power supply for the walking system comes from the power supply electrical system; The bricklaying system includes a bricklaying robot, a robotic gripper, and a complete set of compressed air devices; The bricklaying robot uses a multi-axis robotic arm, which comes with its own robot control cabinet and teach pendant. The multi-axis robotic arm adopts a folding arm design; The bricklaying robot is mounted on top of the robot equipment compartment; The masonry system includes multiple sets of mechanical claws, including standard mechanical claws and mechanical claws for the top wall bricks; The robotic gripper adopts a clamping gripper design; the standard robotic gripper is installed on the end effector of the 6-axis robot; the top-mounted wall tile robotic gripper is installed on the robot's equipment compartment. The robotic gripper can grab one or more wall bricks at a time; The gripping mechanical claw is powered by a compressed air system; The compressed air system includes an air tank and an air pressure monitoring device; The power supply for the masonry system comes from the electrical power supply system; The brick feeding system includes a brick feeding platform, a conveyor belt, a destacking robot, or a brick picking assist device; The brick supply platform is equipped with multiple steering wheels, which are controlled by a central control system. The brick supply platform is equipped with a screw-driven lifting device, which is controlled by a central control system; its external dimensions are smaller than the height and width of a standard doorway. The brick supply platform is equipped with a wall brick sensing device on the conveyor belt; The conveyor belt is selected as a folding type complete set of equipment; the starting end of the conveyor belt is connected to a destacking robot or a brick picking assist device; the ending end of the conveyor belt is connected to a brick supply platform. The depalletizing robot uses a multi-axis robotic arm, which comes with its own robot control cabinet and teach pendant. The depalletizing robot is equipped with a complete set of compressed air devices to power its mechanical claws; A multi-axis robotic arm picks up wall bricks and places them on a conveyor belt; The brick-retrieving assist device includes a column, a rotating arm, and an assistive robotic arm, which assists in manually grabbing wall bricks and placing them on a conveyor belt; The power supply for the brick supply system comes from the electrical power system; The grouting system includes a mortar mixer, a grouting device, and a grouting device; The mortar mixer is selected as a complete set of equipment, and its external dimensions are smaller than the height and width of a standard doorway; the mortar mixer is controlled by a central control system. The grout supply device includes a grout tank, a grout pump, grout pipes, a plastering pool, and a liquid level sensor; The grout supply device is installed inside the robot equipment compartment; the plastering tank is installed above the robot equipment compartment; the mortar pipe connects the mortar delivery pump and the plastering tank for circulating grout supply. Level sensors are installed in mortar tanks and plastering pools; The grouting device includes a grouting platform, a grouting pump, a hose reel, a grouting pipe, a mortar flow regulating valve, a mortar flow sensor, a grouting nozzle box, a grouting outlet electric valve, and grouting nozzles; A grouting platform is installed on the mortar mixer; The grouting equipment is installed on the grouting platform; Flexible pipes are selected for grouting and installed on pipe reel; the grouting pipes are connected to grouting nozzles; The electric valve for the grouting outlet is installed inside the spray nozzle box; The bricklaying robot uses a standard mechanical gripper to hold the grouting nozzle box and complete the grouting process. The power supply for the slurry supply system comes from the electrical power system; The power supply electrical system includes power supply, electrical cabinet, distribution cabinet and lighting fixtures; The power supply system is powered by a diesel or gasoline generator set or a battery bank. Electrical control and protection are fed into the PLC.

2. The intelligent bricklaying robot suitable for special wall structures as described in claim 1, characterized in that, Wall bricks include standard bricks and blocks; the wall thickness is equal to the width of the standard bricks or blocks; the construction method selected is the full-length masonry process; In the beams and columns of the building frame structure, construction grooves are designed to replace the tie bars connecting the walls and beams and columns; the width of the construction groove is the width of a standard brick or block, and the depth of the construction groove is set according to the seismic design requirements. The last layer of wall tiles connecting the wall and the ceiling beam is the top layer wall tile; the top layer wall tile has multiple holes. The bricklaying robot uses a standard mechanical gripper to hold the top layer of bricks. The top layer brick gripper extends into multiple holes to hold and lay the top layer of bricks.

3. The intelligent bricklaying robot suitable for special wall structures as described in claim 1 or 2, characterized in that, The central control system, walking system, masonry system, and vision system are connected via wired communication; the central control system, brick supply system, and grout supply system are connected via wireless communication. The architectural design received by the intelligent bricklaying robot is a working language that the robot can recognize; the central control system computing center is equipped with software that converts 2D architectural designs into 3D architectural designs; The computing center and / or cloud computing center, based on the received architectural design and the graphic data returned by the vision system, independently plan the walking path and enter the work area; select the most suitable wall data model, choose the construction plan and work process, and send it to the PLC for execution; The central control system PLC receives online information from other systems and devices of the intelligent bricklaying robot, instructs them to start and stop, and monitors their operating status online; The masonry robot's built-in control system monitors the multi-axis robotic arm and the operating status of the masonry system; the central control system, through the masonry robot's control system, realizes the motion control of the masonry system and monitors the operating status of each piece of equipment in the masonry system. Each intelligent bricklaying robot can be equipped with one operator and one assistant worker, either remotely or locally, to operate and monitor the operation of multiple intelligent bricklaying robots. The operator uses a remote control to pause, stop, or resume the operation of the intelligent bricklaying robot. The central control system checks the cumulative error in wall construction based on the wall image data returned by the vision system; if it exceeds the design requirements, the central control system instructs the robot to stop working. The central control system checks whether the grouting meets the quality requirements based on the wall image data returned by the vision system and the mortar flow data returned by the mortar flow sensor; if the quality requirements are not met, the central control system instructs the robot to stop working.

4. A smart bricklaying robot suitable for special wall structures as described in claim 1, 2, or 3, characterized in that, The system status of the intelligent bricklaying robot includes: Shutdown status: The entire system is in a stopped state and is not receiving power. Standby mode: The entire system and its subsystems are ready to operate and are in a standby state; Manual mode: The entire system is powered on; you can manually operate each subsystem, device and other actuators on the HMI control panel, and set relevant operating / work parameters on the HMI control panel. Automatic state: The entire system and its subsystems are in automatic operation state; The intelligent bricklaying robot's fault alarm includes audible and visual alarms: alarm settings include sound and light alarms; A green indicator light indicates normal or running status; a flashing red indicator light indicates an abnormal or warning status. The intelligent bricklaying robot is designed with two levels of faults: Level 1 and Level 2. Level 1 fault is a minor fault; the red indicator light is flashing; the intelligent bricklaying robot can continue to work. Level 2 fault is a major fault; the red indicator light flashes and an audible alarm is activated; the intelligent bricklaying robot stops working.

5. A smart bricklaying robot suitable for special wall structures as described in claim 1, 2, 3, or 4, characterized in that, The intelligent bricklaying robot receives work tasks and architectural designs from the command center, obtains construction site information through the BIM system, autonomously plans its walking path, and reaches the work surface. The intelligent bricklaying robot uses a 3D laser scanner with a vision system to scan the work surface, obtain on-site building structure information, and obtain wall material information; The computing center formulates construction plans and work procedures based on the graphic data information returned by the vision system; The masonry system, brick supply system, and grout supply system are in place; The central control system instructs the brick-feeding platform and conveyor belt to adjust their height; The central control system checks and confirms the status of each system device; The central control system instructs the brick feeding system to start. The central control system then instructs the destacking robot to sequentially pick up the appropriate wall bricks based on their position on the wall and place them on the conveyor belt. When the wall bricks reach the brick feeding platform, the brick sensing device is triggered, and the conveyor belt stops. The central control system commanded the slurry supply system to start; The central control system commands the walking system, vision system, and masonry system to start; With the help of a 2D robot industrial camera and displacement distance sensor, the bricklaying robot uses a common mechanical gripper to pick up wall bricks from the brick supply platform and embed them into the structural groove of one side of the column; then it completes the construction of one layer of wall in the same direction; the last wall brick is embedded into the structural groove of the other side of the column. The robotic claw grabs wall bricks from the brick supply platform. After the wall bricks leave the brick supply platform, the conveyor belt resumes operation and continues to transport wall bricks to the brick supply platform. The computing center checks whether the cumulative error of the wall construction meets the quality requirements based on the wall image data returned by the vision system. With the help of a 2D robot industrial camera and displacement distance sensor, the masonry robot uses a mechanical gripper to grab the grouting nozzle box, the grouting outlet electric valve opens, and grout is injected into the wall; after completion, the masonry robot puts the grouting nozzle box back into the grouting platform, and the pipe reel retracts the grouting pipe. The computing center checks whether the grouting meets the quality requirements based on the wall image data returned by the vision system and the mortar flow data returned by the mortar flow sensor. The bricklaying robot uses a standard mechanical gripper to hold the top wall brick mechanical gripper from the robot's equipment compartment; the top wall brick mechanical gripper extends into the hole of the top wall brick, grabs the top wall brick, and embeds the top wall brick into the top beam structure groove; after completing the top wall construction, the bricklaying robot's standard mechanical gripper puts the top wall brick mechanical gripper back into the robot's equipment compartment. The bricklaying robot uses a standard mechanical gripper to pick up the grouting nozzle box from the grouting platform, inserts the grouting nozzle into the gap between the wall bricks and the top beam construction groove, opens the grouting outlet electric valve, and the grouting nozzle injects grout into the gap between the wall bricks and the top beam construction groove. Once completed, the masonry robot returns the grouting nozzle box to the grouting platform, and the pipe retractor retracts the grouting pipe.

6. A smart bricklaying robot suitable for special wall structures as described in claim 1, 2, 3, 4, or 5, characterized in that, The process flow and implementation scheme are as follows: S01: The intelligent bricklaying robot receives work tasks and architectural designs from the command center. The central control system obtains construction site information through the BIM system, autonomously plans its walking path, and reaches the work surface. S02: The intelligent bricklaying robot uses a 3D laser scanner with a vision system to scan the work surface, obtain on-site building structure information, and obtain wall material information; S03: The computing center formulates construction plans and work procedures based on the graphic data information returned by the vision system; S04: The masonry system, brick supply system and grout supply system are in place; S05: The central control system instructs the brick-feeding platform and conveyor belt to adjust their height; S06: The central control system checks and confirms the status of each system device; S07: The central control system instructs the brick feeding system to start; the central control system instructs the destacking robot to grab the corresponding wall bricks in sequence according to their different positions on the wall and place them on the conveyor belt; when the wall bricks arrive at the brick feeding platform, the wall brick sensing device is triggered, and the conveyor belt stops. S08: The central control system commands the slurry supply system to start; S09: The central control system commands the walking system, vision system, and masonry system to start; S10: With the help of a 2D robot industrial camera and displacement distance sensor, the bricklaying robot uses a common mechanical gripper to grab wall bricks from the brick supply platform and embed them into the column construction groove on one side. S11: The bricklaying robot completes the construction of the first layer of wall in the same direction; the last wall brick is embedded into the construction groove of the column on the other side. S12: The mechanical claw grabs the wall bricks from the brick supply platform. After the wall bricks leave the brick supply platform, the conveyor belt resumes operation and continues to transport wall bricks to the brick supply platform. S13: After completing the construction of the first floor wall, the masonry robot, with the help of a 2D robot industrial camera and displacement distance sensor, grips the grouting nozzle box from the grouting platform, the grouting outlet electric valve opens, and the grouting nozzle grouts back and forth on the wall surface. S14: With the help of a 2D robot industrial camera and displacement distance sensor, the masonry robot puts the grouting nozzle box back into the grouting platform, and the pipe reel retracts the grouting pipe. S15: With the help of a 2D robot industrial camera and displacement distance sensor, the masonry robot repeats the above process, using a common mechanical gripper to pick up wall bricks from the brick supply platform and continue to lay the wall bricks from bottom to top, completing the masonry of the entire wall except for the last layer of bricks connecting the wall and the top beam. S16: After each layer of wall is completed, the masonry robot, with the help of a 2D robot industrial camera and displacement distance sensor, repeats the above process, gripping the grouting nozzle box from the grouting platform, opening the electric valve of the grouting outlet, and grouting the grouting nozzle back and forth on the wall surface. S17: After grouting is completed, the masonry robot, with the help of a 2D robot industrial camera and displacement distance sensor, puts the grouting nozzle box back into the grouting platform, and the pipe reel retracts the grouting pipe. S18: The bricklaying robot, aided by a 2D robot industrial camera and displacement distance sensor, uses a standard mechanical gripper to hold the top wall bricks from the robot's equipment compartment. S19: With the help of a 2D robot industrial camera and displacement distance sensor, the mechanical claw of the bricklaying robot extends into the hole of the top wall brick, grabs the top wall brick, and embeds the top wall brick into the top beam structure groove. S20: After completing the construction of the top wall, the bricklaying robot, with the help of a 2D robot industrial camera and displacement distance sensor, uses a standard mechanical gripper to put the top wall bricks back into the robot equipment compartment. S21: With the help of a 2D robot industrial camera and displacement distance sensor, the masonry robot grips the grouting nozzle box from the grouting platform and inserts the grouting nozzle into the gap between the wall bricks and the top beam construction groove. S22: The electric valve for the grouting outlet is opened, and the grouting nozzle injects grout into the gap between the wall bricks and the top beam structural groove; S23: After grouting is completed, the masonry robot, with the help of a 2D robot industrial camera and displacement distance sensor, puts the grouting nozzle box back into the grouting platform, and the pipe reel retracts the grouting pipe. S24: The intelligent bricklaying robot issues an audio-visual prompt on-site, indicating that the bricklaying work on this side of the wall is complete; it sends a work completion message to the command center; the intelligent bricklaying robot moves to the next work surface and continues to build the next wall.

7. A smart bricklaying robot suitable for special wall structures as described in claim 1, 2, 3, 4, 5, or 6, characterized in that, This invention is applicable to wall engineering in other industries.