Control method, control system and processor for wall construction robot

Abstract

The embodiment of the present invention provides a control method, control system, and processor for a wall construction robot, which belongs to the technical field of construction machinery. The wall construction robot includes an operating body and a motion mechanism for carrying the operating body. A first distance detection device and a second distance detection device facing downward are provided on the operating body or the motion mechanism. A marker is provided on the ground where the wall construction robot is located. The control method includes: in the process of the motion mechanism moving toward the marker, obtaining the first position and the second position of the motion mechanism corresponding to when the first distance detection device and the second distance detection device are triggered respectively; determining the target position of the motion mechanism based on the first position and the second position; controlling the motion mechanism to move to the target position; and controlling the operating body to rotate until the first distance detection device and the second distance detection device are triggered simultaneously. The embodiment of the present invention can improve the environmental adaptability of the wall construction robot.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery, and in particular to a control method, a control system, and a processor for a wall construction robot. Background Art

[0002] Traditional construction operations (for example, plastering operations, wall polishing operations, etc.) rely heavily on manual labor and require a high level of technical skills from construction workers. However, with the rise in labor costs and the increasing aging trend of construction workers, wall construction robots will gradually replace manual labor to perform corresponding construction operations.

[0003] Before a wall construction robot can perform construction operations on a wall, it usually needs to be leveled. The existing leveling method for wall construction robots is usually to use a laser beam surface consisting of laser lines parallel to the ideal wall surface emitted by a fixed laser projector as a reference for leveling, and then use an image sensor installed on the wall construction robot to take a picture of the laser line for leveling. However, this method is relatively demanding on the operating environment of the wall construction robot. In brightly lit environments, the image sensor often has difficulty recognizing the laser line emitted by the laser projector, resulting in low environmental adaptability. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a control method and control system, a processor and a storage medium for a wall construction robot, so as to solve the problem of low environmental adaptability existing in the prior art.

[0005] To achieve the above-mentioned objectives, a first aspect of an embodiment of the present invention provides a control method for a wall construction robot. The wall construction robot includes an operating body and a motion mechanism for carrying the operating body. A first distance detection device and a second distance detection device facing downward are provided on the operating body or the motion mechanism. The first distance detection device and the second distance detection device are triggered when a sudden change in distance is detected. A marker is provided on the ground where the wall construction robot is located, and the height of the marker is greater than a preset height threshold. The control method includes:

[0006] During the process of the motion mechanism moving toward the marker, obtaining a first position and a second position of the motion mechanism corresponding to when the first distance detection device and the second distance detection device are triggered respectively;

[0007] determining a target position of the motion mechanism based on the first position and the second position;

[0008] Control the motion mechanism to move to the target position;

[0009] The operating body is controlled to rotate until the first distance detection device and the second distance detection device are triggered simultaneously.

[0010] In an embodiment of the present invention, the target position of the motion mechanism is determined based on the first position and the second position, including: when the first distance detection device and the second distance detection device are left-right symmetrical about the median vertical plane of the working body, determining the target position as the middle position between the first position and the second position.

[0011] In an embodiment of the present invention, the target position of the motion mechanism is determined based on the first position and the second position, including: when the first distance detection device and the second distance detection device are not left-right symmetrical about the median vertical plane of the working body, obtaining the horizontal distance ratios of the first distance detection device and the second distance detection device to the median vertical plane respectively; determining the first position, the second position and the horizontal distance ratio to determine the target position.

[0012] In an embodiment of the present invention, a marker is set on the ground between the wall to be worked on and the wall construction robot, and a third distance detection device and a fourth distance detection device facing the front side of the working body are provided on the working body, and the motion mechanism includes left and right pulleys; before obtaining the first position and second position corresponding to the motion mechanism when the first distance detection device and the second distance detection device are triggered respectively, it also includes: obtaining the first distance and second distance between the working body and the wall to be worked detected by the third distance detection device and the fourth distance detection device respectively; when the difference between the first distance and the second distance is not within the preset difference range, the rotation speed of the left and right pulleys is controlled according to the first distance and the second distance until the difference is within the preset difference range.

[0013] In an embodiment of the present invention, the motion mechanism is provided with a leveling electric cylinder, and the motion mechanism or the working body is provided with an inclination detection device; the control method also includes: obtaining the inclination angle of the motion mechanism or the working body detected by the inclination detection device; adjusting the leveling electric cylinder according to the inclination angle until the motion mechanism or the working body remains level.

[0014] In an embodiment of the present invention, the control method also includes: after the operating body completes the operation on the wall to be operated in the current lane, controlling the motion mechanism to move to the wall to be operated in the next lane according to the preset lane-changing lateral distance, wherein the preset lane-changing lateral distance is the difference between the width of each wall to be operated and the width of the repeated operation area.

[0015] In an embodiment of the present invention, the wall construction robot includes a plastering robot, and the operating body includes a nozzle and a plastering device; the control method also includes: controlling the nozzle to perform spraying operations on the wall to be operated to obtain a sprayed wall; controlling the plastering device to perform plastering operations on the sprayed wall.

[0016] A second aspect of an embodiment of the present invention provides a processor configured to execute the above-mentioned control method for a wall construction robot.

[0017] A third aspect of an embodiment of the present invention provides a control system for a wall construction robot. The wall construction robot includes an operating body and a motion mechanism for carrying the operating body. The operating body or the motion mechanism is provided with a first distance detection device and a second distance detection device facing downward. The first distance detection device and the second distance detection device are triggered when a sudden change in distance is detected. The control system includes: a marker, which is set on the ground where the wall construction robot is located, and the height of the marker is greater than a preset height threshold; and a processor according to the above.

[0018] A fourth aspect of an embodiment of the present invention provides a machine-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the control method for a wall construction robot described above is implemented.

[0019] The above technical solution, during the movement of the motion mechanism toward the marker, obtains the first position and the second position of the motion mechanism corresponding to when the first distance detection device and the second distance detection device are triggered respectively, and determines the target position of the motion mechanism based on the first position and the second position, thereby controlling the motion mechanism to move to the target position and controlling the operation body to rotate until the first distance detection device and the second distance detection device are triggered simultaneously. The above technical solution does not need to rely on a laser line projector and an image sensor, and the first distance detection device and the second distance detection device both emit distance detection signals downward, thereby avoiding the influence of strong light in the environment, so that the wall construction robot can still stably and accurately complete the leveling action in a brighter environment, thereby improving the environmental adaptability of the wall construction robot. The target position of the motion mechanism is determined based on the first position and the second position corresponding to when the first distance detection device and the second distance detection device are triggered respectively, and after the motion mechanism is controlled to reach the target position, the operation body is controlled to rotate to the position where the first distance detection device and the second distance detection device are triggered simultaneously, which can improve the leveling accuracy of the wall construction robot and ensure the subsequent operation quality of the wall construction robot.

[0020] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings:

[0022] Figure 1 The following schematically shows a flow chart of a control method for a wall construction robot according to an embodiment of the present invention;

[0023] Figure 2The following schematically shows the structure of a wall construction robot according to an embodiment of the present invention;

[0024] Figure 3 Schematically shows a side view of a wall construction robot operating in one embodiment of the present invention;

[0025] Figure 4 Schematically shows a top view of a wall construction robot operating in one embodiment of the present invention;

[0026] Figure 5 A schematic diagram illustrating precise leveling of a working device of a wall construction robot according to an embodiment of the present invention is shown;

[0027] Figure 6 A schematic diagram of the control process for precise leveling of a working device of a wall construction robot according to one embodiment of the present invention is shown;

[0028] Figure 7 The following schematically shows a flow chart of a plastering method of a plastering robot according to an embodiment of the present invention;

[0029] Figure 8 The figure schematically shows the movement trajectory of the nozzle of the plastering robot during the spraying process in one embodiment of the present invention.

[0030] Description of Reference Numerals

[0031] 100 Working device 200 Chassis

[0032] 300 Lifting Device 400 Recovery Silo

[0033] 500 electronic control system DETAILED DESCRIPTION

[0034] The following describes the specific implementation of the embodiment of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiment of the present invention and is not used to limit the embodiment of the present invention.

[0035] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0036] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features specified as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0037] Figure 1 The following schematically shows a flow chart of a control method for a wall construction robot according to an embodiment of the present invention. Figure 1 As shown, in an embodiment of the present invention, a control method for a wall construction robot is provided. The wall construction robot includes an operating body and a motion mechanism for carrying the operating body. A first distance detection device and a second distance detection device facing downward are provided on the operating body or the motion mechanism. The first distance detection device and the second distance detection device are triggered when a sudden change in distance is detected. A marker is provided on the ground where the wall construction robot is located, and the height of the marker is greater than a preset height threshold. Taking the application of the control method to a processor as an example for explanation, the control method may include the following steps:

[0038] Step S102 : in the process of the motion mechanism moving toward the marker, obtaining the first position and the second position of the motion mechanism corresponding to when the first distance detection device and the second distance detection device are triggered respectively.

[0039] Step S104: determining a target position of the motion mechanism according to the first position and the second position.

[0040] Step S106: Control the motion mechanism to move to the target position.

[0041] Step S108: Control the operating body to rotate until the first distance detection device and the second distance detection device are triggered simultaneously.

[0042] It can be understood that the wall construction robot is a mechanical device that performs wall construction work or operations. For example, when the wall construction work is a plastering work, the wall construction robot can be a plastering robot. In addition, the wall construction work can also include but is not limited to wall grinding, wall tile laying and other similar operations. The wall construction robot may include an operating body and a motion mechanism for carrying the operating body, wherein the operating body can be used to perform specific wall construction work, for example, it may include a plastering panel, etc., and the motion mechanism can be used to achieve movement in different directions (such as front and back, left and right) and on-the-spot turning movements, and can adapt to various working spaces of different sizes, for example, it may include a chassis, etc. The first distance detection device and the second distance detection device are devices or devices used to detect distances, for example, they can be distance measuring devices such as laser ranging sensors or ultrasonic ranging sensors. A first distance detection device and a second distance detection device facing downward may be provided on the operating body or the motion mechanism. It can be understood that the first distance detection device and the second distance detection device are both facing downward, that is, the first distance detection device and the second distance detection device can emit distance detection signals downward. The first distance detection device and the second distance detection device are triggered when a sudden change in the distance signal is detected. For example, when the distance measurement value suddenly changes by 3 cm, the first distance detection device and the second distance detection device are triggered.

[0043] Furthermore, the first distance detection device and the second distance detection device can be arranged at the left and right ends of the lower end face of the working body or the motion mechanism, or can be arranged on the left and right side faces of the working body or the motion mechanism. The marker is an object that serves as an identifier or reference, such as an identifier square tube or an identifier round tube, etc., which is set on the ground where the wall construction robot is located. The height of the marker is greater than the preset height threshold. The preset height threshold is a pre-set threshold with a certain height, and its specific value can be set according to the actual application scenario, such as 3cm or 5cm, etc. Understandably, when the distance detection signal (for example, a laser signal) emitted by the first distance detection device and / or the second distance detection device reaches the marker, the detection distance of the first distance detection device and / or the second distance detection device suddenly changes, thereby triggering the first distance detection device and / or the second distance detection device. The first position is the position of the motion mechanism when the first distance detection device is triggered, and the second position is the position of the motion mechanism when the second distance detection device is triggered. The target position is the desired position or ideal position of the motion mechanism for easy leveling.

[0044] Specifically, the processor can control the motion mechanism to carry the working body toward the marker. During this motion process, if the first distance detection device and the second distance detection device are triggered at different time points, that is, the two are not triggered simultaneously, then the processor can obtain the first position and the second position of the motion mechanism corresponding to when the first distance detection device and the second distance detection device are triggered respectively, and determine the target position of the motion mechanism based on the first position and the second position. Furthermore, the specific method for determining the target position can select the corresponding target position determination method according to the specific installation position of the first distance detection device and the second distance detection device. For example, in one embodiment, when the first distance detection device and the second distance detection device are symmetrical about the median vertical plane of the working body, the processor can determine the target position as the middle position between the first position and the second position. That is, if the line where the first distance detection device and the second distance detection device are located is basically parallel to the target working wall and the first distance detection device and the second distance detection device are at the same distance from the median vertical plane of the working body, then the target position of the motion mechanism is the middle position between the first position and the second position. After determining the target position of the motion mechanism, the processor can control the motion mechanism to move to the target position and control the rotation of the working body until the first distance detection device and the second distance detection device are triggered at the same time. The control of the rotation of the working body here can adopt the method of directly controlling the rotation of the working body. At this time, the motion mechanism can remain stationary and the working body can rotate around the rotation center. It can also adopt the method of indirectly controlling the rotation of the working body by controlling the rotation of the motion mechanism, that is, the motion mechanism and the working body rotate together.

[0045] The control method for a wall construction robot described above, during the process of the motion mechanism moving toward the marker, obtains the first position and the second position of the motion mechanism corresponding to when the first distance detection device and the second distance detection device are triggered respectively, and determines the target position of the motion mechanism based on the first position and the second position, thereby controlling the motion mechanism to move to the target position and controlling the operating body to rotate until the first distance detection device and the second distance detection device are triggered simultaneously. This control method does not need to rely on a laser line projector and an image sensor, and the first distance detection device and the second distance detection device both emit distance detection signals downward, thereby avoiding the influence of strong light in the environment, so that the wall construction robot can still stably and accurately complete the leveling action in a brighter environment, thereby improving the environmental adaptability of the wall construction robot. The target position of the motion mechanism is determined based on the first position and the second position corresponding to when the first distance detection device and the second distance detection device are triggered respectively, and after the motion mechanism is controlled to reach the target position, the operating body is controlled to rotate to the position where the first distance detection device and the second distance detection device are triggered simultaneously, which can improve the leveling accuracy of the wall construction robot and ensure the subsequent operation quality of the wall construction robot.

[0046] In one embodiment, the target position of the motion mechanism is determined based on the first position and the second position, including: when the first distance detection device and the second distance detection device are not left-right symmetrical about the median vertical plane of the working body, obtaining the horizontal distance ratios of the first distance detection device and the second distance detection device to the median vertical plane respectively; determining the first position, the second position and the horizontal distance ratio to determine the target position.

[0047] It can be understood that the situation where the first distance detection device and the second distance detection device are not left-right symmetrical about the median vertical plane of the working body here refers to the situation where the line where the first distance detection device and the second distance detection device are located is basically parallel to the target working wall surface and the distances between the first distance detection device and the second distance detection device and the median vertical plane of the working body are not equal. At this time, the processor can obtain the pre-stored horizontal distance ratios of the first distance detection device and the second distance detection device to the median vertical plane of the working body, thereby determining the target position of the motion mechanism based on the first position, the second position and the horizontal distance ratio. For example, when the first distance detection device is triggered first and the second distance detection device is triggered later, if the horizontal distance ratios of the first distance detection device and the second distance detection device to the median vertical plane are 3:5, the processor can determine the interval distance between the first position and the second position, and determine that when the distance the motion mechanism starts to retreat at the second position reaches 5 / 8 of the interval distance, the position of the motion mechanism is the target position of the motion mechanism.

[0048] In the embodiment of the present application, the situation where the first distance detection device and the second distance detection device are not symmetrically distributed along the median vertical plane of the working body is taken into consideration, so that flexible leveling of the wall construction robot can be achieved according to the position combination of different distance detection devices.

[0049] In some embodiments, the length of the marker may be greater than the distance between the first distance detection device and the second distance detection device, so as to ensure that the first distance detection device and the second distance detection device can be triggered simultaneously during the leveling process of the wall construction robot.

[0050] In one embodiment, a marker is set on the ground between the wall to be worked on and the wall construction robot, and a third distance detection device and a fourth distance detection device facing the front side of the working body are set on the working body, and the motion mechanism includes left and right pulleys; before obtaining the first position and second position corresponding to the motion mechanism when the first distance detection device and the second distance detection device are triggered respectively, it also includes: obtaining the first distance and second distance between the working body and the wall to be worked detected by the third distance detection device and the fourth distance detection device respectively; when the difference between the first distance and the second distance is not within the preset difference range, the rotation speed of the left and right pulleys is controlled according to the first distance and the second distance until the difference is within the preset difference range.

[0051] It can be understood that the third distance detection device and the fourth distance detection device are oriented toward the front side of the working body and can be used to detect the distance between the wall construction robot and the wall. For example, they can be set on the front face of the working body or on the left and right end faces or the upper end face. The third distance detection device and the fourth distance detection device can be, for example, ultrasonic distance measuring sensors or laser distance measuring sensors or electronic compasses and other sensors. The motion mechanism can include left and right pulleys, i.e., a left pulley and a right pulley. The specific number of the left pulley and the right pulley can be unlimited. The wall to be worked on is the wall on which construction work needs to be performed. The first distance is the distance between the wall construction robot and the wall to be worked on detected by the third distance detection device, and the second distance is the distance between the wall construction robot and the wall to be worked on detected by the fourth distance detection device. The preset difference range is the smaller distance difference range between the pre-set first distance and the second distance.

[0052] It is understandable that since the wall to be worked on is often uneven, the distance values ​​measured by the third distance detection device and the fourth distance detection device are only used as a reference for the preliminary positioning of the wall construction robot, that is, rough leveling is performed before precise leveling. Specifically, before the processor obtains the first position and second position corresponding to the motion mechanism when the first distance detection device and the second distance detection device are triggered respectively, it can first obtain the first distance and second distance between the working body and the wall to be worked detected by the third distance detection device and the fourth distance detection device respectively, and compare the first distance and the second distance. When the difference between the first distance and the second distance is not within the preset difference range, the processor can control the rotation speed of the left and right pulleys according to the first distance and the second distance until the difference between the two is within the preset difference range, and then perform precise leveling.

[0053] In an embodiment of the present application, by adding a third distance detection device and a fourth distance detection device toward the front side of the working body, the movement direction of the wall construction robot can be preliminarily controlled according to the distance values ​​measured by the third distance detection device and the fourth distance detection device, thereby achieving rough leveling, thereby reducing the time for subsequent precise leveling and improving the leveling efficiency.

[0054] In one embodiment, the motion mechanism is provided with a leveling electric cylinder, and the motion mechanism or the working body is provided with an inclination detection device; the control method also includes: obtaining the inclination of the motion mechanism or the working body detected by the inclination detection device; adjusting the leveling electric cylinder according to the inclination until the motion mechanism or the working body remains level.

[0055] It is understood that the leveling cylinders can support the motion mechanism, thereby changing its height. There can be multiple leveling cylinders, for example, three or four. When the motion mechanism is a chassis, the leveling cylinders can be chassis leveling cylinders. The inclination detection device, such as an inclination sensor, is provided on the motion mechanism or the working body and can be used to detect the inclination angle of the motion mechanism or the working body relative to the horizontal plane.

[0056] Specifically, the processor can obtain the inclination angle of the motion mechanism or the working body detected by the inclination detection device, and adjust the leveling cylinder according to the inclination angle until the motion mechanism or the working body remains horizontal. For example, when the motion mechanism is not basically level with the horizontal plane (for example, it is in a tilted state with the left higher and the right lower or the front higher and the back lower), the processor can adjust the leveling cylinder to level the motion mechanism, so that the motion mechanism remains level with the horizontal plane. Alternatively, when the working body is not basically level with the horizontal plane (for example, it is in a tilted state with the left higher and the right lower or the front higher and the back lower), the processor can adjust the leveling cylinder to adjust the height of the motion mechanism, so that the working body remains level with the horizontal plane.

[0057] In an embodiment of the present application, by detecting the inclination angle between the motion mechanism or the working body and the horizontal plane, and adjusting the leveling cylinder according to the inclination angle, the motion mechanism or the working body can be leveled in the horizontal direction, that is, the posture of the wall construction robot is adjusted to a horizontal state according to the inclination detection device provided on the wall construction robot, thereby ensuring the verticality of the wall to be worked on and improving the working efficiency of the wall construction robot.

[0058] In one embodiment, the control method for the wall construction robot also includes: after the working body completes the work on the current wall to be worked on, controlling the motion mechanism to move to the next wall to be worked on according to the preset lane-changing lateral distance, wherein the preset lane-changing lateral distance is the difference between the width of each wall to be worked on and the width of the repeated work area.

[0059] It can be understood that in order to avoid missing work between each wall to be worked on, a repeated work area is set up for each wall to be worked on, and the preset lane change lateral movement distance is the preset lateral movement distance required for the wall construction robot to change lanes from the current wall to be worked on to the next wall to be worked on, specifically the difference between the width of each wall to be worked on and the width of the repeated work area, where the width of each wall to be worked on and the width of the repeated work area can be preset and determined.

[0060] Specifically, the operating body can operate on each wall to be operated according to a predetermined trajectory, such as from bottom to top, from left to right, etc. After the operating body completes the operation on the current wall to be operated, such as completing the spraying operation or plastering operation on the current wall to be operated, the processor can control the motion mechanism to move to the next wall to be operated according to the preset lane changing lateral movement distance, that is, control the lateral movement distance of the motion mechanism to be the preset lane changing lateral movement distance, so as to operate on the next wall to be operated.

[0061] In the embodiment of the present application, by presetting the lane-changing and lateral movement distance and controlling the lane-changing and lateral movement distance of the motion mechanism of the wall construction robot, the phenomenon of missing work between each wall to be worked on can be effectively avoided.

[0062] In one embodiment, the wall construction robot includes a plastering robot, and the operating body includes a nozzle and a plastering device; the control method for the wall construction robot also includes: controlling the nozzle to perform spraying operations on the wall to be operated to obtain a sprayed wall surface; controlling the plastering device to perform plastering operations on the sprayed wall surface.

[0063] It can be understood that a plastering robot is a machine device used to perform plastering operations on wall surfaces. The nozzle can be used for spraying operations, and the plastering device can be used for plastering operations, such as plastering panels. A sprayed wall is a wall surface that has been sprayed and is ready for work. Furthermore, in some embodiments, the nozzle can be driven by a drive device to reciprocate left and right to perform the spraying operation.

[0064] Specifically, the processor can first control the nozzle to spray the wall surface to be worked on, thereby obtaining a sprayed wall surface. After completing the spraying operation on each wall surface to be worked on, the processor then controls the plastering device to perform the plastering operation on each sprayed wall surface. Furthermore, in some embodiments, the starting point of the plastering operation is near the starting point of the spraying operation, and the plastering panel can completely cover the sprayed area, thereby preventing any missed scraping.

[0065] In an embodiment of the present application, when the wall construction robot is a plastering robot, the plastering quality of the plastering robot can be guaranteed by controlling the plastering robot to perform spraying operations first and then plastering operations.

[0066] For example, a plastering robot is a wall construction robot. Plastering, which involves applying a layer of mortar to a wall, is a crucial step in construction, and its quality directly impacts subsequent putty application. Traditional plastering operations are highly manual and require high levels of skill from construction workers. However, with rising labor costs and an aging workforce, plastering robots are poised to replace manual labor.

[0067] However, due to the very high quality requirements for plastering construction: the verticality and flatness of the wall surface within a range of 2 meters, the deviation of ordinary plastering is required to be less than 4mm, and the deviation of advanced plastering is required to be less than 3mm, which puts higher requirements on the operating accuracy of the plastering robot. When leveling the plastering robot, the existing technology usually uses the laser beam surface emitted by the laser projector as a reference for leveling the plastering panel. This solution has a relatively harsh operating environment. In a brighter environment, it is often difficult for the sensor to identify the laser. At the same time, the diameter of the laser beam continues to increase with the distance from the light source, and the reference accuracy may not meet expectations. At the same time, the wall surface to be sprayed / plastered is often uneven. If the angle of the plastering panel is adjusted according to the distance between the sensor and the measured distance to the wall surface to be sprayed / plastered, it is easy to cause height differences between the plastering surfaces during the movement of the plastering panel, and the plastering surface may be tilted or uneven. A specific embodiment of the present invention proposes a control method for a wall construction robot, which can overcome the problems of height differences between plastered surfaces and tilted and uneven plastered surfaces caused by the plastering panel changing lanes, thereby ensuring the robot's plastering quality.

[0068] Specifically, if Figure 2 、 3 As shown in Figure 4, the plastering robot is mainly composed of a motion mechanism (including a chassis and a lifting device), a working device (i.e., the working body), and an electronic control system (i.e., a processor or controller). The chassis can be provided with four independently steerable hub motors. By controlling the direction and rotation direction of the wheels, the chassis can move forward, backward, left, and right, and turn on the spot. It is flexible in movement and can adapt to various narrow working spaces. In addition, three leveling electric cylinders are provided at the bottom of the chassis. The three leveling electric cylinders can support the robot and adjust the robot's posture to a horizontal state according to the inclination sensor installed on the robot. At this time, the lifting device is lifted and lowered vertically to ensure the verticality of the plastered wall. The lifting device is installed on the slide rail on the chassis and can move a certain distance d1 forward and backward along the chassis. A working device is installed on the lifting device. Driven by the lifting device, the working device can move up and down, forward and backward. The working device is equipped with a nozzle and a plastering panel. The nozzle can reciprocate left and right under the action of the driving device to perform spraying and plastering operations. A rotating hinge O is provided on the working device, as shown Figure 5As shown, under the action of another driving device, the working device can rotate left and right around the hinge point O by a certain angle, thereby adjusting the direction of the plastering panel. Ultrasonic ranging sensors (i.e., the third distance detection device and the fourth distance detection device) are symmetrically provided on the front end surface of the working device, which can measure the distance between the left and right ends of the front end surface of the working device and the wall. Because the wall surface to be worked on is often uneven, the distance value measured by the ultrasonic ranging sensor is only used as a reference for the preliminary positioning of the robot. The robot can preliminarily control its movement direction based on the distance values ​​measured by the left and right ultrasonic ranging sensors or sensors such as electronic compasses. Laser ranging sensors (i.e., the first distance detection device and the second distance detection device) are symmetrically provided on the lower end surface of the working device, which are used to measure the distance between the working device and the ground / marking square tube (i.e., the marker). The wall construction robot accurately levels the working device based on the laser ranging sensor to make the plastering panel parallel to the marking square tube. The detailed process is as follows: Figure 5 As shown in the figure, when the working device gradually approaches the wall, the laser emitted by at least one laser distance measuring sensor will first hit the marking square steel frame, and the measured distance value will suddenly change (for example, if the side length of the square tube section is 3cm, the measured distance value will suddenly change by about 3cm). This is recorded as the triggering of the laser distance measuring sensor. Figure 6 As shown, by controlling the forward and backward movement of the lifting device and the angle of the working device around the hinge point O, the left and right laser distance measuring sensors are triggered at the same time, thereby achieving the parallelism of the plastering panel and the marking square tube. In one example, the laser distance measuring sensor can preferably be a triangulation laser sensor with a small laser beam diameter to ensure the triggering accuracy of the laser distance measuring sensor and improve the parallelism between the plastering panel and the marking square tube. It should be noted that when the working device performs precise leveling action, the working device is close to the ground, for example, the setting distance is 10cm to 20cm, which can greatly reduce the influence of strong light, so the robot can still stably and accurately complete the leveling function of the plastering panel in a brighter environment. The detailed plastering method can be as follows Figure 7 The specific steps are as follows:

[0069] Step 1: Arrange reference marks on the ground: Workers mark square tubes horizontally on the ground near the bottom of the wall according to the laser projected by the laser level, and measure the distance d2 between the square tubes and the wall.

[0070] Step 2: Input relevant operation parameters: relevant parameters include but are not limited to square tube width W1, distance between square tube and wall d2, plaster thickness h1, plastering wall length L, and plastering height H.

[0071] Step 3: Automatic spraying operation by the robot: Based on the distance sensors arranged on the left and right sides of the working device, the robot moves to the starting point of the robot spraying operation according to the distance between the left and right ends of the working device and the wall. At this time, the front end of the robot working device is approximately parallel to the wall, and the distance between the left and right ends of the working device and the wall is D1 (according to the spraying construction specifications, it is recommended that the distance between the nozzle and the wall at this time be between 150 and 300 mm). The nozzle in the working device is driven by the combined drive of the relevant drive device and the lateral movement of the robot to spray the wall according to the predetermined trajectory. The nozzle movement trajectory is as follows: Figure 8 As shown. In detail, the nozzle is arranged in the working device, and can move back and forth on the working device under the drive of the nozzle drive motor; the working device is installed on the lifting device and can perform lifting and lowering movements. During single-pass spraying, the robot does not move, and the nozzle moves according to the preset trajectory driven by the lifting device and the nozzle drive motor to complete the spraying of the current wall. Then the robot changes lanes: the robot moves horizontally to the right for a distance S1 to the next working position and then parks, and the nozzle completes the spraying operation of the wall according to the predetermined trajectory. This cycle repeats. After the predetermined spraying operation wall is sprayed, the spraying is stopped. It should be noted that in order to avoid leakage between each spraying operation wall, there is a repeated spraying area on each spraying operation surface, and the lane-changing horizontal movement distance S1 is the difference between the width W2 of each spraying wall and the width W3 of the repeated spraying area.

[0072] Step 4: Robotic Automated Plastering: The robot moves to the starting point of the plastering operation. The front end of the robot's working mechanism is approximately parallel to the wall, and the distance between the left and right ends of the working mechanism and the wall is D2. At this point, the distance between the plastering panel and the wall is less than d1, where d1 is the maximum forward and backward movement of the lifting mechanism along the chassis, i.e., the maximum forward movement of the plastering panel. Furthermore, the starting point of the plastering operation is near the starting point of the shotcreting operation, ensuring that the plastering panel completely covers the shotcrete area, thus preventing any missed areas. The leveling cylinders mounted under the robot chassis extend a certain distance, and the robot switches to a three-cylinder support state. Based on the robot's inclination measured by the inclination sensors mounted on the robot, the leveling cylinders are controlled to level the robot chassis, ensuring vertical elevation of the plastering panel. The robot precisely levels the working mechanism based on distance measurements from the laser rangefinders symmetrically positioned at the bottom of the working mechanism, ensuring that the plastering panel is parallel to the square tube at a constant distance. Based on the preset wall plaster thickness h1, the robot drives the plastering panel forward and backward a specific distance (d2 - h1) to control the plastering thickness. The plastering panel scrapes the slurry vertically upward. After the working device reaches the top of the wall or a specified height, it then moves vertically downward a certain distance to improve the plastering quality, completing a plastering operation. The working device, driven by the lifting device, then moves back to its final position. The plastering panel detaches from the wall, the chassis support cylinder retracts, and the robot switches back to the four-wheel support state. The robot then moves horizontally to the left or right a certain distance to change lanes. To avoid missing scraping between each plastering operation, there is a repeated smoothing area on each smoothing operation. The lane change horizontal movement distance S2 is the difference between the length of the plastering panel and the width of the repeated smoothing area. The chassis is then leveled again, the plastering panel is precisely aligned, and the plastering panel moves to complete the next plastering operation. This cycle repeats until the wall to be scraped is completed.

[0073] In addition, the marking square tube used for ground reference can be replaced by a long level ruler or a ruler with a spirit level to set the reference mark horizontally.

[0074] The control method for a wall construction robot provided by an embodiment of the present invention uses a ground-mounted reference mark—a square tube edge—as a reference for leveling the plastering panel. Two symmetrically arranged laser ranging sensors with small beam diameters are used to identify the square tube edge at close range, achieving high leveling accuracy. This overcomes the problems of height differences between plastered surfaces, tilted plastered surfaces, and unevenness caused by the plastering panel's movement during lane changes, thereby ensuring the robot's plastering quality. Compared to existing solutions that use the laser beam emitted by a laser projector and the distance from the device to the wall surface to be worked on as a leveling reference for the plastering panel, this method offers the advantage of higher leveling accuracy.

[0075] In this embodiment of the present invention, the laser rangefinder used for plaster panel leveling is located on the underside of the working device. When precisely leveling the plaster panel, the working device is close to the ground, significantly reducing the effects of strong light. This allows the robot to stably and accurately perform plaster panel leveling even in brighter environments, improving its environmental adaptability. This control method offers the advantage of greater environmental adaptability compared to existing solutions that use a laser beam emitted by a laser projector as a reference for plaster panel leveling.

[0076] In addition, the control method for a wall construction robot proposed in an embodiment of the present invention, the technical solution for high-precision positioning and posture adjustment of the robot based on ground reference marks and laser ranging sensors with a small beam diameter can be used not only for plastering robots, but also for the positioning and posture adjustment of devices performing similar operations such as wall polishing and wall tile laying.

[0077] An embodiment of the present invention further provides a processor configured to execute the control method for the wall construction robot according to the above embodiment.

[0078] An embodiment of the present invention also provides a control system for a wall construction robot. The wall construction robot includes an operating body and a motion mechanism for carrying the operating body. The operating body or the motion mechanism is provided with a first distance detection device and a second distance detection device facing downward. The first distance detection device and the second distance detection device are triggered when a sudden change in distance is detected. The control system includes: a marker, which is set on the ground where the wall construction robot is located, and the height of the marker is greater than a preset height threshold; and a processor according to the above embodiment.

[0079] An embodiment of the present invention further provides a machine-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the control method for the wall construction robot according to the above embodiment is implemented.

[0080] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0081] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0082] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0083] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0084] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0085] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0086] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0087] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0088] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A control method for a wall construction robot, characterized in that: The wall construction robot includes an operating body and a motion mechanism for carrying the operating body, wherein a first distance detection device and a second distance detection device facing downward are provided on the operating body or the motion mechanism, wherein the first distance detection device and the second distance detection device are triggered when a sudden change in distance is detected, and a marker is provided on the ground where the wall construction robot is located, and the height of the marker is greater than a preset height threshold. The control method includes: During the movement of the motion mechanism toward the marker, obtaining a first position and a second position of the motion mechanism corresponding to when the first distance detection device and the second distance detection device are triggered respectively; determining a target position of the motion mechanism according to the first position and the second position; controlling the motion mechanism to move to the target position; Controlling the operating body to rotate until the first distance detection device and the second distance detection device are triggered simultaneously; Wherein, determining the target position of the motion mechanism according to the first position and the second position includes: In the case where the first distance detecting device and the second distance detecting device are bilaterally symmetrical about the median vertical plane of the working body, the target position is determined to be an intermediate position between the first position and the second position; or When the first distance detection device and the second distance detection device are not left-right symmetrical about the median vertical plane of the working body, obtain the horizontal distance ratios of the first distance detection device and the second distance detection device to the median vertical plane respectively; determine the target position based on the first position, the second position and the horizontal distance ratio.

2. The control method according to claim 1, characterized in that: The marker is set on the ground between the wall to be worked and the wall construction robot, the working body is provided with a third distance detection device and a fourth distance detection device facing the front side of the working body, and the motion mechanism includes left and right pulleys; before obtaining the first position and the second position of the motion mechanism corresponding to when the first distance detection device and the second distance detection device are triggered respectively, it also includes: Acquire a first distance and a second distance between the working subject and the wall to be worked on, respectively detected by the third distance detection device and the fourth distance detection device; When the difference between the first distance and the second distance is not within a preset difference range, the rotational speeds of the left and right pulleys are controlled according to the first distance and the second distance until the difference is within the preset difference range.

3. The control method according to claim 1, wherein: The motion mechanism is provided with a leveling electric cylinder, and the motion mechanism or the working body is provided with an inclination detection device; the control method further includes: Acquiring the inclination angle of the motion mechanism or the working body detected by the inclination detection device; The leveling electric cylinder is adjusted according to the inclination angle until the motion mechanism or the working body remains horizontal.

4. The control method according to claim 1, wherein: The control method further includes: After the operating body completes the operation on the wall to be operated in the current lane, the motion mechanism is controlled to move to the wall to be operated in the next lane according to the preset lane-changing lateral movement distance, wherein the preset lane-changing lateral movement distance is the difference between the width of each wall to be operated and the width of the repeated operation area.

5. The control method according to claim 1, characterized in that: The wall construction robot includes a plastering robot, and the operating body includes a spray head and a plastering device; the control method further includes: Controlling the nozzle to perform spraying operation on the wall surface to be operated to obtain a sprayed wall surface; The plastering device is controlled to perform plastering operations on the sprayed wall surface.

6. A processor, characterized in that: The method is configured to execute the control method for a wall construction robot according to any one of claims 1 to 5.

7. A control system for a wall construction robot, characterized in that: The wall construction robot includes an operating body and a motion mechanism for carrying the operating body. The operating body or the motion mechanism is provided with a first distance detection device and a second distance detection device facing downward. The first distance detection device and the second distance detection device are triggered when a sudden change in distance is detected. The control system includes: a marker, which is set on the ground where the wall construction robot is located, and the height of the marker is greater than a preset height threshold; and The processor according to claim 6.

8. A machine-readable storage medium storing a program or instruction, characterized in that: When the program or the instruction is executed by a processor, the control method for a wall construction robot according to any one of claims 1 to 5 is implemented.

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