Construction error compensation device and method suitable for building wall laying robot

Abstract

The application relates to the field of intelligent robots and control engineering technology for building construction, and particularly provides a construction error compensation device and method suitable for a building wall laying robot, which comprises a climbing frame, a target, a measuring mechanism and a calculation controller, the climbing frame comprises vertical climbing frame columns and horizontal climbing frame frames, the horizontal climbing frame frames are movably connected to the vertical climbing frame columns, wall laying robots are arranged on each side frame of the horizontal climbing frame frames, one target is horizontally arranged outside at least three corners of the horizontal climbing frame frames, a measuring mechanism is arranged below each target, each measuring mechanism is signal-connected with the calculation controller, and the calculation controller is signal-connected with each target and the wall laying robots. The application can measure the displacement and corner deviation generated in the wall laying process of the building in real time, the route of the wall laying robot is timely re-planned, and the straightness of the wall of the building and the quality of the building are ensured.

Description

TECHNICAL FIELD

[0001] The application relates to the field of intelligent robots for building construction and control engineering, and particularly provides a construction error compensation device and method suitable for a building wall laying robot. BACKGROUND

[0002] In a high-rise building construction process for a wall laying robot, the inclination angle and displacement of a wall body are usually taken as important construction parameters, the wall laying robot is used for wall laying construction by moving along a guide rail on a climbing frame, and the installation of the climbing frame affects the final parameters of the wall body. The height of a large building is usually above hundreds of meters, and the position deviation of each floor body is very strict. Only when the installation deviation of the climbing frame is accurately measured can the wall laying robot re-plan a track path, otherwise, the inclination of a building above hundreds of meters will be caused, and a collapse is easily caused, thereby causing a safety accident. A coordinate measuring device is usually adjusted by manually moving a position of a laser ranging sensor through artificial observation, and the base needs to be ensured to be in a horizontal range. In addition, objects are easily dropped under a high climbing frame to injure workers, thereby causing a safety accident. SUMMARY

[0003] In order to solve the above technical problems, the application provides a construction error compensation device and method suitable for a building wall laying robot, which can overcome the defects of complex structure, high cost and manual operation in the prior art, improve work efficiency, and ensure the laying quality of the wall body.

[0004] The application is implemented in the following manner. The application provides a construction error compensation device suitable for a building wall laying robot, which comprises a climbing frame, a target, a measuring mechanism and a calculation controller. The climbing frame is arranged on the periphery of a building and comprises vertical climbing frame columns and a horizontal climbing frame frame. The vertical climbing frame columns are arranged at positions of each corner of the building. The horizontal climbing frame frame is movably connected to the vertical climbing frame columns. A wall laying robot is arranged on each side frame of the horizontal climbing frame frame. A target is horizontally arranged at each of at least three corners of the horizontal climbing frame frame. A measuring mechanism is arranged below each target. Each measuring mechanism is signal-connected to the calculation controller. The calculation controller is signal-connected to each target and wall laying robot.

[0005] Preferably, the measuring mechanism comprises a horizontal moving base, a vertical moving frame, a hydraulic leveling structure and a laser ranging sensor. The vertical moving frame is connected to the upper end of the horizontal moving base. The hydraulic leveling structure is connected to the vertical moving frame. The laser ranging sensor is arranged at the upper end of the hydraulic leveling structure. The laser ranging sensor is located below the corresponding target.

[0006] Further preferably, the horizontal moving base comprises an X-direction horizontal moving assembly and a Y-direction horizontal moving assembly, the X-direction horizontal moving assembly comprises an X-direction base, an X-direction stepping motor, an X-direction screw rod, an X-direction bearing seat and an X-direction load bearing seat, two X-direction guide rails are arranged on the X-direction base, the X-direction load bearing seat is movably arranged on the X-direction guide rails, the X-direction stepping motor is arranged on one side of the X-direction base between the two X-direction guide rails, the output end of the X-direction stepping motor is connected with the X-direction screw rod, the X-direction screw rod is threadedly penetrated through the lower end of the X-direction load bearing seat and rotationally connected with the X-direction bearing seat, and the X-direction bearing seat is arranged on the other side of the X-direction base between the two X-direction guide rails.

[0007] The Y-direction horizontal moving assembly comprises a Y-direction base, a Y-direction stepping motor, a Y-direction screw rod, a Y-direction bearing seat and a Y-direction load bearing seat, two Y-direction guide rails are arranged on the Y-direction base, the Y-direction load bearing seat is movably arranged on the Y-direction guide rails, the Y-direction stepping motor is arranged on one side of the Y-direction base between the two Y-direction guide rails, the output end of the Y-direction stepping motor is connected with the Y-direction screw rod, the Y-direction screw rod is threadedly penetrated through the lower end of the Y-direction load bearing seat and rotationally connected with the Y-direction bearing seat, and the Y-direction bearing seat is arranged on the other side of the Y-direction base between the two Y-direction guide rails; and the vertical moving frame is fixedly connected to the upper surface of the Y-direction load bearing seat.

[0008] Further preferably, the vertical moving frame comprises a Z-direction support, a Z-direction stepping motor, a Z-direction screw rod and a Z-direction bearing seat, the lower end of the Z-direction support is fixedly connected to the upper end of the horizontal moving base, the lower end of one side of the Z-direction support is connected with the Z-direction stepping motor, the output end of the Z-direction stepping motor is connected with the Z-direction screw rod, the other end of the X-direction screw rod is rotationally connected with the Z-direction bearing seat, and the Z-direction bearing seat is connected to the upper end of the Z-direction support, and the hydraulic leveling structure is rotationally connected with the Z-direction screw rod.

[0009] Further preferably, the hydraulic leveling structure comprises a hydraulic table, a hydraulic oil tank, a hydraulic cylinder and a measuring platform, the hydraulic table is movably connected with the vertical moving frame, the hydraulic table is provided with a hydraulic circuit, the hydraulic oil tank is connected with one side of the hydraulic table and connected with the hydraulic circuit, two hydraulic cylinders are arranged above the hydraulic table and connected with the hydraulic circuit, and the upper surfaces of the two hydraulic cylinders are connected with the lower surface of the measuring platform.

[0010] Further preferably, an electronic level is arranged on the hydraulic leveling structure.

[0011] Further preferably, the upper surface of the laser ranging sensor is provided with a laser emitter, and the side surface is provided with a power supply socket, a power supply display lamp and a communication serial port.

[0012] Further preferably, the lower surface of the target is provided with a laser sensing encoder, and the encoder is provided with coordinate values of each position of the target.

[0013] This invention also provides a construction error compensation method suitable for building bricklaying robots, which uses the above-mentioned construction error compensation device suitable for building bricklaying robots and specifically includes the following steps:

[0014] S10) Move each of the measuring mechanisms to the corresponding target, adjust the position of the laser range sensor by the horizontal moving base and the vertical moving frame, and level it by the hydraulic leveling structure;

[0015] S20) Turn on the laser rangefinder sensor, project the laser onto the target, and obtain the position coordinates of the projection point;

[0016] S30) The measured coordinates are input into the calculation controller, and the displacement offset and rotation deviation of the horizontal climbing frame are calculated. The specific calculation process is as follows:

[0017] The following formula is used:

[0018]

[0019] R0=R1(ε X R2(ε) Y ), R3(ε Z )

[0020] Where X1, Y1, and Z1 are theoretical coordinate values, X2, Y2, and Z2 are measured coordinate values, and ΔX0, ΔY0, and ΔZ0 are displacement offsets. Assume a rotation of ε around OZ1. Z Angle, around OY 0 Rotation ε Y Angle, rotate ε around OX2 X Angle, ε X ,ε Y ,ε Z These are the three rotation angles of a three-dimensional rectangular coordinate transformation, also known as Euler angles. Each Euler angle has its own rotation matrix, namely R1(ε). X R2(ε) Y ), R3(ε Z The corresponding three-dimensional rotation matrix is:

[0021]

[0022] S40) The displacement offset and rotation deviation are input into the bricklaying robot through the calculation controller. The bricklaying robot replans the trajectory path of the robotic arm to build the wall, so that the error is within the safe range. The calculation controller also stores the measurement calculation data.

[0023] Compared with the prior art, the advantages of the present invention are as follows:

[0024] The displacement and angular deviation generated by the horizontal climbing frame during the building wall construction process can be measured in real time, the wall construction robot mechanical arm wall construction route is re-planned in time, the straightness of the building wall is ensured, and the quality of the building is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0025] The application will be described in further detail below in conjunction with the accompanying drawings and embodiments:

[0026] Figure 1 The overall structure of the construction error compensation device suitable for the building wall construction robot provided by the application is shown in the axonometric view;

[0027] Figure 2 The front view structure schematic diagram of Figure 1 ;

[0028] Figure 3 The front view structure schematic diagram of the measuring mechanism;

[0029] Figure 4 The top view structure schematic diagram of the measuring mechanism;

[0030] Figure 5 The top view structure schematic diagram of the X-direction horizontal moving assembly;

[0031] Figure 6 The hydraulic circuit structure schematic diagram;

[0032] Figure 7 The laser ranging sensor structure diagram;

[0033] Figure 8 The target structure diagram;

[0034] Figure 9 The construction error compensation method suitable for the building wall construction robot provided by the application is shown in the flowchart. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the application clearer, the application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the application and do not limit the application.

[0036] Reference is made to Figure 1 , Figure 2 and Figure 9This invention provides a construction error compensation device suitable for building bricklaying robots, including a climbing frame 1, a target 5, a measuring mechanism 2, and a computing controller 3. The climbing frame 1 is set on the periphery of a building 6 and includes vertical climbing frame columns 101 and horizontal climbing frame frames 102. Multiple vertical climbing frame columns 101 are provided and distributed at various corners of the building 6. The horizontal climbing frame frames 102 are movably connected to the vertical climbing frame columns 101. Bricklaying robots 4 are respectively provided on each side of the horizontal climbing frame frames 102. At least three corners of the horizontal climbing frame frames 102 are respectively horizontally provided with a target 5. A measuring mechanism 2 is provided directly below each target 5. Each measuring mechanism 2 is signal-connected to the computing controller 3. The computing controller 3 is signal-connected to each target 5 and the bricklaying robot 4.

[0037] The horizontal climbing scaffold frame 102 is connected to multiple vertical climbing scaffold columns 101. The horizontal climbing scaffold frame 102 is raised and lowered on the vertical climbing scaffold columns 101 via automatic control. Specifically, a fixed pulley can be installed at both the upper and lower ends of the vertical climbing scaffold column 101. One end of a pull cable is connected to the horizontal climbing scaffold frame 102, then passes through the upper and lower fixed pulleys sequentially, and is wound onto a reel. The reel is automatically rotated by a motor. Servo motors are used, and by setting multiple servo motors with the same rotation speed, synchronous raising and lowering of the horizontal climbing scaffold frame 102 at various positions can be achieved.

[0038] The operation of this device includes the following steps:

[0039] S10) Move each of the measuring mechanisms 2 below the corresponding target 5, and adjust the horizontal position and levelness of the measuring mechanisms 2;

[0040] S20) Open the measuring mechanism 2, project the laser onto the target 5, and obtain the position coordinates of the projection point;

[0041] S30) The measured coordinates are input into the calculation controller 3, and the displacement offset and rotation deviation of the horizontal climbing frame 102 are calculated. The specific calculation process is as follows:

[0042] The following formula is used:

[0043]

[0044] R0=R1(ε X R2(ε) Y ), R3(ε Z )

[0045] Where X1, Y1, and Z1 are theoretical coordinate values, X2, Y2, and Z2 are measured coordinate values, and ΔX0, ΔY0, and ΔZ0 are displacement offsets. Assume a rotation of ε around OZ1. Z Angle, around OY0 rotation ε Y angle, rotation ε around OX2 X angle, ε X , ε Y , ε Z are three rotation angle deviations of three-dimensional space orthogonal coordinate transformation, also known as Euler angles, each Euler angle has its own rotation matrix, which are R1(ε X ), R2(ε Y ), and R3(ε Z ), and the three-dimensional rotation matrix corresponding thereto is:

[0046]

[0047] S40) The displacement offset and the rotation angle deviation are input into the wall building robot 4 by the calculation controller 3, the wall building robot 4 re-plans the trajectory path of the mechanical arm for wall building, so that the error is within a safe range, and the measurement calculation data is stored by the calculation controller 3.

[0048] Reference Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 As a specific implementation manner of the measurement mechanism 2, the measurement mechanism 2 comprises a horizontal moving base 10, a vertical moving frame 7, a hydraulic leveling structure 20, and a laser ranging sensor 31, the vertical moving frame 7 is connected to an upper end of the horizontal moving base 10, the hydraulic leveling structure 20 is connected to the vertical moving frame 7, the laser ranging sensor 31 is arranged at an upper end of the hydraulic leveling structure 20, and the laser ranging sensor 31 is located directly below the corresponding target 5.

[0049] Specifically, in the method step S10), the position of the laser ranging sensor 31 is adjusted by the horizontal moving base 10 and the vertical moving frame 7, and leveling is performed by the hydraulic leveling structure 20.

[0050] As a specific implementation manner of the horizontal moving base 10, the horizontal moving base 10 comprises an X-direction horizontal moving assembly and a Y-direction horizontal moving assembly, the X-direction horizontal moving assembly comprises an X-direction base 15, an X-direction stepping motor 11, an X-direction lead screw 13, an X-direction bearing seat 14, and an X-direction load bearing seat 12, two X-direction guide rails are arranged on the X-direction base 15, the X-direction load bearing seat 12 is movably installed on the X-direction guide rails, the X-direction stepping motor 11 is arranged on one side of the X-direction base 15 between the two X-direction guide rails, an output end of the X-direction stepping motor 11 is connected to the X-direction lead screw 13, the X-direction lead screw 13 is threadedly passed through a lower end of the X-direction load bearing seat 12 and is rotationally connected to the X-direction bearing seat 14, and the X-direction bearing seat 14 is arranged on the other side of the X-direction base 15 between the two X-direction guide rails;

[0051] The Y-direction horizontal moving assembly comprises a Y-direction base 8, a Y-direction stepping motor 9, a Y-direction screw 16, a Y-direction bearing seat 17 and a Y-direction load bearing seat 18. Two Y-direction guide rails are arranged on the Y-direction base 8, and the Y-direction load bearing seat 18 is movably arranged on the Y-direction guide rails. The Y-direction stepping motor 9 is arranged on one side of the Y-direction base 8 between the two Y-direction guide rails. The output end of the Y-direction stepping motor 9 is connected with the Y-direction screw 16, the Y-direction screw 16 is threadedly connected through the lower end of the Y-direction load bearing seat 18 and is rotationally connected with the Y-direction bearing seat 17. The Y-direction bearing seat 17 is arranged on the other side of the Y-direction base 8 between the two Y-direction guide rails. The vertical moving frame 7 is fixedly connected to the upper surface of the Y-direction load bearing seat 18.

[0052] When the X-direction horizontal position is adjusted, the X-direction stepping motor 11 is started to drive the X-direction screw 13 to rotate, and the X-direction load bearing seat 12 moves horizontally along with the X-direction screw 13 to adjust the X-direction position of the upper part.

[0053] When the Y-direction horizontal position is adjusted, the Y-direction stepping motor 9 is started to drive the Y-direction screw 16 to rotate, and the Y-direction load bearing seat 18 moves horizontally along with the Y-direction screw 16 to adjust the Y-direction position of the upper part.

[0054] As a specific implementation of the vertical moving frame 7, the vertical moving frame 7 comprises a Z-direction support 19, a Z-direction stepping motor 24, a Z-direction screw 25 and a Z-direction bearing seat 26. The lower end of the Z-direction support 19 is fixedly connected to the upper end of the horizontal moving base 10. The lower end of one side of the Z-direction support 19 is connected with the Z-direction stepping motor 24. The output end of the Z-direction stepping motor 24 is connected with the Z-direction screw 25. The other end of the Z-direction screw 25 is rotationally connected with the Z-direction bearing seat 26. The Z-direction bearing seat 26 is connected to the upper end of the Z-direction support 19. The hydraulic leveling structure 20 is rotationally connected with the Z-direction screw 25.

[0055] When the vertical direction position is adjusted, the Z-direction stepping motor 24 drives the Z-direction screw 25 to rotate, and the hydraulic leveling structure 20 moves in the vertical direction along with the Z-direction screw 25.

[0056] As a specific implementation of the hydraulic leveling mechanism, the hydraulic leveling structure 20 comprises a hydraulic table 23, a hydraulic oil tank 22, a hydraulic cylinder 21 and a measuring platform 33. The hydraulic table 33 is movably connected with the vertical moving frame 7. The hydraulic table 33 is provided with a hydraulic circuit. The hydraulic oil tank 22 is connected with the hydraulic circuit and is arranged on one side of the hydraulic table 23. Two hydraulic cylinders 21 are arranged above the hydraulic table 33 and are connected with the hydraulic circuit. The upper ends of the two hydraulic cylinders 21 are connected with the lower surface of the measuring platform 33.

[0057] The height of the two hydraulic cylinders 21 is adjusted by the hydraulic circuit inside the hydraulic tank 22 and the hydraulic platform 23, thereby adjusting the level of the measuring platform 33 and thus adjusting the level of the laser rangefinder 31.

[0058] To provide a more intuitive way to observe the levelness, as an improvement, an electronic level 32 is also provided on the hydraulic leveling structure 20.

[0059] Specifically, the laser rangefinder 31 has a laser emitter 27 on its upper surface and a power socket 28, a power indicator light 29 and a communication serial port 30 on its side.

[0060] refer to Figure 8 As a specific implementation of target 5, a laser sensing encoder is provided on the lower surface of target 5, and the encoder contains the coordinate values ​​of each position of target 5. A laser is emitted by laser ranging sensor 31 and hits target 5. The laser sensing encoder at the corresponding position of target 5 transmits the coordinate value of that position to computing controller 3.

[0061] Example

[0062] To more clearly explain the error compensation formula, the following example will be used for further verification:

[0063] like Figure 1 As shown, let the initial coordinates of point A be AX1 = 0, AY1 = 0, AZ1 = 0, the initial coordinates of point B be BX1 = 25336.5, BY1 = 0, BZ1 = 0, and the initial coordinates of point C be CX1 = 25336.5, CY1 = 19558, CZ1 = 0. Rotate the horizontal climbing frame 102 by 1° around the X-axis, 2° around the Y-axis, and 3° around the Z-axis. Then translate it by 10mm along the X-axis, 15mm along the Y-axis, and 20mm along the Z-axis. The coordinates of point A are AX1 = 10, AY1 = 15, AZ1 = 20; the coordinates of point B are BX1 = 25296.36, BY1 = 1356.22, BZ1 = -839.74; and the coordinates of point C are CX1 = 24273.4, CY1 = 20883.82, CZ1 = -463.16.

[0064] Simulation results show that the rotation angle around the X-axis is 0.9994°, the rotation angle around the Y-axis is 2°, and the rotation angle around the Z-axis is 2.236°, with offsets of 10, 15, and 20, respectively. The experimental and simulation results are nearly identical, indicating that this formula is applicable to the aforementioned error compensation method.

[0065] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A construction error compensation device for a building wall laying robot, characterized in that, The application relates to a wall building robot system, which comprises a climbing frame (1), targets (5), measuring mechanisms (2) and a calculation controller (3), the climbing frame (1) is arranged on the periphery of a building (6) and comprises vertical climbing frame columns (101) and horizontal climbing frame frames (102), the vertical climbing frame columns (101) are arranged at positions of each corner of the building (6), the horizontal climbing frame frames (102) are movably connected to the vertical climbing frame columns (101), wall building robots (4) are arranged on each side frame of the horizontal climbing frame frames (102), one target (5) is horizontally arranged outside at least three corners of the horizontal climbing frame frames (102), one measuring mechanism (2) is arranged below each target (5), each measuring mechanism (2) is signal-connected with the calculation controller (3), and the calculation controller (3) is signal-connected with each target (5) and wall building robot (4). The measuring mechanism (2) comprises a horizontal moving base (10), a vertical moving frame (7), a hydraulic leveling structure (20) and a laser ranging sensor (31), the vertical moving frame (7) is connected to the upper end of the horizontal moving base (10), the hydraulic leveling structure (20) is connected to the vertical moving frame (7), the laser ranging sensor (31) is arranged at the upper end of the hydraulic leveling structure (20), and the laser ranging sensor (31) is located below the corresponding target (5). The horizontal moving base (10) comprises an X-direction horizontal moving assembly and a Y-direction horizontal moving assembly, the X-direction horizontal moving assembly comprises an X-direction base (15), an X-direction stepping motor (11), an X-direction lead screw (13), an X-direction bearing seat (14) and an X-direction bearing seat (12), two X-direction guide rails are arranged on the X-direction base (15), the X-direction bearing seat (12) is movably arranged on the X-direction guide rails, the X-direction stepping motor (11) is arranged on one side of the X-direction base (15) between the two X-direction guide rails, the output end of the X-direction stepping motor (11) is connected with the X-direction lead screw (13), the X-direction lead screw (13) is threadedly connected with the X-direction bearing seat (14) after penetrating through the lower end of the X-direction bearing seat (12), and the X-direction bearing seat (14) is arranged on the other side of the X-direction base (15) between the two X-direction guide rails. The Y-direction horizontal moving assembly comprises a Y-direction base (8), a Y-direction stepping motor (9), a Y-direction lead screw (16), a Y-direction bearing seat (17) and a Y-direction bearing seat (18), two Y-direction guide rails are arranged on the Y-direction base (8), the Y-direction bearing seat (18) is movably arranged on the Y-direction guide rails, the Y-direction stepping motor (9) is arranged on one side of the Y-direction base (8) between the two Y-direction guide rails, the output end of the Y-direction stepping motor (9) is connected with the Y-direction lead screw (16), the Y-direction lead screw (16) is threadedly connected with the Y-direction bearing seat (17) after penetrating through the lower end of the Y-direction bearing seat (18), and the Y-direction bearing seat (17) is arranged on the other side of the Y-direction base (8) between the two Y-direction guide rails; and the vertical moving frame (7) is fixedly connected to the upper surface of the Y-direction bearing seat (18). The vertical moving frame (7) comprises a Z-direction support (19), a Z-direction stepping motor (24), a Z-direction screw (25) and a Z-direction bearing seat (26), the lower end of the Z-direction support (19) is fixedly connected to the upper end of the horizontal moving base (10), the lower end of one side of the Z-direction support (19) is connected to the Z-direction stepping motor (24), the output end of the Z-direction stepping motor (24) is connected to the Z-direction screw (25), the other end of the X-direction screw (25) is rotatably connected to the Z-direction bearing seat (26), the Z-direction bearing seat (26) is connected to the upper end of the Z-direction support (19), and the hydraulic leveling structure (20) is rotatably connected to the Z-direction screw (25).

2. The construction error compensation device for a building wall laying robot according to claim 1, characterized in that, The hydraulic leveling structure (20) comprises a hydraulic table (23), a hydraulic oil tank (22), a hydraulic cylinder (21) and a measuring platform (33), the hydraulic table (33) is movably connected to the vertical moving frame (7), a hydraulic circuit is arranged in the hydraulic table (33), the hydraulic oil tank (22) is connected to one side of the hydraulic table (23) and connected to the hydraulic circuit, two hydraulic cylinders (21) are arranged above the hydraulic table (33) and connected to the hydraulic circuit, and the upper surfaces of the two hydraulic cylinders (21) are connected to the lower surface of the measuring platform (33).

3. The construction error compensation device for a building wall laying robot according to claim 1, characterized in that, An electronic level (32) is further arranged on the hydraulic leveling structure (20).

4. The construction error compensation device for a building wall laying robot according to claim 1, characterized in that, A laser emitter (27) is arranged on the upper surface of the laser ranging sensor (31), and a power socket (28), a power display lamp (29) and a communication serial port (30) are arranged on the side surface of the laser ranging sensor (31).

5. The construction error compensation device for a building wall laying robot according to claim 1, characterized in that, A laser sensing encoder is arranged on the lower surface of the target (5), and coordinate values of each position of the target (5) are arranged in the encoder.

6. A construction error compensation method suitable for a building wall laying robot, characterized by, The construction error compensation device suitable for the building wall laying robot of claim 1 comprises the following steps: S10) each measuring mechanism (2) is moved below the corresponding target (5), the position of the laser ranging sensor (31) is adjusted by the horizontal moving base (10) and the vertical moving frame (7), and leveling is performed by the hydraulic leveling structure (20); S20) the laser ranging sensor (31) is turned on, laser is projected onto the target (5), and the position coordinates of the projection point are obtained; S30) the measured coordinates are input into the calculation controller (3), the displacement offset and the rotation angle deviation of the horizontal climbing frame (102) are obtained through calculation, and the specific calculation process is as follows: The following formula is used: Wherein, X1, Y1, Z1 are theoretical coordinate values, X2, Y2, Z2 are measured coordinate values, ΔX0, ΔY0, ΔZ0 are displacement offsets, and θx, θy, θz are rotation angles, and θx, θy, θz are three rotation angle deviations of three-dimensional space rectangular coordinate transformation, also known as Euler angles, each Euler angle has its own rotation matrix, respectively The three-dimensional rotation matrix corresponding thereto is: S40) the displacement offset and the rotation angle deviation are input into the wall laying robot (4) through the calculation controller (3), the wall laying robot (4) re-plans the trajectory path of the mechanical arm for wall laying, so that the error is within a safe range, and the measurement and calculation data are stored through the calculation controller (3).

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