Indoor visual plastering construction robot and construction method

Abstract

The invention discloses an indoor visual plastering construction robot and a construction method, and belongs to the technical field of building construction.The indoor visual plastering construction robot comprises a plastering head used for plastering a wall surface, the plastering head is arranged on a robot body in a sliding mode, a mortar supply head is arranged on the robot body in a sliding mode, and the mortar supply head is located above the plastering head in an inclined mode; the robot body is provided with a regulating and controlling mechanism used for regulating and controlling the position of the plastering head, and a feeding mechanism used for supplying cement slurry to the plastering head is arranged beside the robot body. The method has the effects that the automation degree of building decoration is improved, the decoration period is shortened, and the decoration efficiency and the decoration effect are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and in particular to an indoor visualized plastering construction robot and a construction method. Background Art

[0002] The construction industry is developing rapidly and becoming more and more intelligent. However, the decoration industry is still dominated by traditional workers, which makes it difficult to improve the efficiency of building decoration. The degree of automation of building decoration is low, resulting in a long decoration cycle and high cost. Among them, the wall plastering decoration work of structural buildings such as factories has the characteristics of high-altitude work and large-area structure coating. In the decoration process of this type of building, workers are required to hold the plastering head for plastering. The efficiency of manual plastering is low. In addition, due to the different construction familiarity and technical levels of the plastering construction workers, the coating effect is greatly affected, resulting in different results after construction and poor decoration effect.

[0003] In view of the above-mentioned related technologies, it is urgent to design and develop an indoor visual plastering construction robot and construction method to improve the degree of automation of building decoration, reduce the decoration cycle, and improve decoration efficiency and decoration effect. Summary of the invention

[0004] In order to improve the degree of automation of building decoration, reduce the decoration period, and improve the decoration efficiency and decoration effect, the present application provides an indoor visual plastering construction robot and a construction method.

[0005] In the first aspect, the present application provides an indoor visual plastering construction robot body adopts the following technical solution: A main body of an indoor visual plastering construction robot comprises a plastering head for plastering a wall surface, the plastering head is slidably arranged on a robot body, a plaster supply head is slidably arranged on the robot body, the plaster supply head is located obliquely above the plastering head, a regulating mechanism for regulating the position of the plastering head is arranged on the robot body, and a feeding mechanism for supplying cement slurry to the plastering head is arranged next to the robot body.

[0006] By adopting the above technical scheme, the trowel head is slidably set on the robot body, the ash supply head is slidably set on the robot body, and the ash supply head is set obliquely above the trowel head. When the wall needs to be plastered, cement slurry is provided to the trowel head through the feeding mechanism, and the cement slurry is transferred to the contact position between the ash supply head and the wall through the ash supply head. The position of the trowel head is adjusted by the regulating mechanism, which facilitates plastering of the wall without manual application, thereby improving the degree of automation of building decoration.

[0007] Preferably, a sliding groove is provided on the side of the robot body, and the regulating mechanism includes a control module arranged in the robot body, a motor 1 electrically connected to the control module, a screw fixed on the output shaft of the motor 1, and a mounting rod threadedly sleeved on the screw, the motor 1 is arranged in the robot body, the screw is rotatably arranged in the sliding groove, the mounting rod is vertically slidably arranged in the sliding groove, the ash supply head is arranged on the mounting rod, and the wiping head is arranged on the mounting rod.

[0008] By adopting the above technical scheme, a sliding groove is opened on the side of the robot body, the control module is arranged in the robot body, the motor 1 is arranged in the robot body, the motor 1 is electrically connected to the control module, the screw is fixed on the output shaft of the motor 1, the screw is rotatably arranged in the sliding groove, the mounting rod is threadedly sleeved on the screw, the mounting rod is vertically slidably arranged in the sliding groove, the ash supply head is arranged on the mounting rod, and the plastering head is arranged on the mounting rod. When it is necessary to adjust the vertical position of the ash supply head and the plastering head, the driving motor 1 drives the screw to rotate forward or reversely, the screw drives the mounting rod to move up or down in the sliding groove, and the mounting rod drives the ash supply head and the plastering head to move up or down, which is convenient for adjusting the vertical position of the ash supply head and the plastering head, thereby facilitating the plastering operation on the wall.

[0009] Preferably, a transfer groove is provided on the side of the mounting rod, the top wall of the transfer groove is communicated with the top surface of the mounting rod, the bottom wall of the transfer groove is communicated with the bottom surface of the mounting rod, the regulating mechanism includes a driving component 1, the driving component 1 includes a motor 2 arranged on the mounting rod, a rotating rod 1 fixed on the output shaft of the motor 2 and a cylinder fixed on the rotating rod 1, the rotating rod 1 is rotatably arranged in the transfer groove, the rotating rod 1 is rotatably arranged in the mounting rod, the wiper head is fixed on the output shaft of the cylinder, and the control module is electrically connected to the motor 2.

[0010] By adopting the above technical scheme, a transfer groove is opened on the side of the mounting rod, the top wall of the transfer groove is connected with the top surface of the mounting rod, and the bottom wall of the transfer groove is connected with the bottom surface of the mounting rod. Motor 2 is arranged on the mounting rod, rotating rod 1 is fixed on the output shaft of motor 2, rotating rod 1 is rotatably arranged in the transfer groove, rotating rod 1 is rotatably arranged in the mounting rod, the cylinder is fixed on the rotating rod 1, and the plastering head is fixed on the output shaft of the cylinder. The control module is electrically connected to the motor 2, driving the motor 2 to drive the rotating rod 1 to rotate, and the angle of the plastering head can be adjusted. The control module controls the cylinder to adjust the distance between the plastering head and the wall, which is convenient for adjusting the angle and distance between the plastering head and the wall, thereby facilitating better plastering of the wall.

[0011] Preferably, a sliding hole is provided on the top surface of the mounting rod, and the regulating mechanism includes a driving component 2, and the driving component 2 includes a rack vertically slidably arranged in the sliding hole, a motor 3 arranged on the mounting rod, and a gear fixed on the output shaft of the motor 3, the gear is rotatably arranged in the mounting rod, the gear is rotatably arranged in the sliding hole, the gear is meshed with the rack, the ash supply head is rotatably arranged on the rack, and the control module is electrically connected to the motor 3.

[0012] By adopting the above technical scheme, a sliding hole is opened on the top surface of the mounting rod, and the rack is vertically slidably arranged in the sliding hole, the motor three is arranged on the mounting rod, the gear is fixed on the output shaft of the motor three, the gear is rotatably arranged in the mounting rod, the gear is rotatably arranged in the sliding hole, the gear is meshed with the rack, the ash supply head is rotatably arranged on the rack, the control module is electrically connected to the motor three, and when it is necessary to adjust the height of the ash supply head, the control module controls the motor three to adjust the gear to rotate forward or reverse, the gear drives the rack to move up or down, and the rack drives the ash supply head to move up or down, so as to facilitate the adjustment of the position of the ash supply head.

[0013] Preferably, a support rod is provided on the top surface of the rack, a rotating hole is opened on the side surface of the support rod, the top wall of the rotating hole is communicated with the top surface of the support rod, the regulating mechanism includes a motor four arranged on the support rod and a rotating rod two fixed on the motor output shaft, the rotating rod two is rotatably arranged in the rotating hole, the rotating rod two is rotatably arranged in the support rod, the ash supply head is arranged on the rotating rod two, and the control module is electrically connected to the motor four.

[0014] By adopting the above technical scheme, a support rod is arranged on the top surface of the rack, a rotating hole is opened on the side surface of the support rod, the top wall of the rotating hole is connected with the top surface of the support rod, motor four is arranged on the support rod, rotating rod two is fixed on the motor output shaft, rotating rod two is rotatably arranged in the rotating hole, rotating rod two is rotatably arranged in the support rod, the ash supply head is arranged on rotating rod two, and the control module is electrically connected to motor four. When it is necessary to adjust the angle of the ash supply head, the control module is used to control motor four to drive the rotating rod to rotate forward or reversely, thereby facilitating the adjustment of the angle of the ash supply head.

[0015] Preferably, the feeding mechanism includes a feeding pipe having one end connected to the ash supply head, a storage box arranged next to the robot body and a pressure pump arranged on the feeding pipe, the other end of the feeding pipe is connected to the storage box, and the control module is electrically connected to the pressure pump.

[0016] By adopting the above technical solution, a storage box is arranged next to the robot body, one end of the feeding pipe is connected to the ash supply head, and the other end of the feeding pipe is connected to the storage box, and the control module is electrically connected to the pressure pump. When the wall needs to be plastered, the pressure pump is controlled by the control module to transfer the cement slurry in the storage box to the ash supply head, so that the ash supply head can supply cement slurry in time.

[0017] Preferably, a driving mechanism is provided on the robot body, and the driving mechanism includes a slide seat provided on the robot body and Mecanum wheels provided at four corners of the slide seat, a placement groove is provided on the top surface of the slide seat, the robot body is provided in the placement groove, and the control module can control the Mecanum wheels through signals.

[0018] By adopting the above technical solution, a placement groove is opened on the top surface of the slide, the robot body is arranged in the placement groove, and Mecanum wheels are arranged at the four corners of the slide. The control module can control the Mecanum wheels through signals to facilitate the adjustment of the position of the robot body.

[0019] Preferably, a monitoring mechanism is provided on the robot body, and the monitoring mechanism includes camera 1 provided on the robot body and camera 2 provided next to the camera, the camera 2 is provided on the robot body, the camera 1 and the camera 2 are located on both sides of the sliding groove, the control module can control the camera 1 through signals, and the control module can control the camera 2 through signals.

[0020] By adopting the above technical solution, camera one is set on the robot body, camera two is set on the robot body, camera two is set next to camera one, camera one and camera two are located on both sides of the sliding groove, the control module can control camera one through signals, the control module can control camera two through signals, camera one and camera two can perform image acquisition work, camera one and camera two can capture the wall image behind the mold wall, and analyze the image information, so as to analyze the quality of the wall.

[0021] In the second aspect, the present application provides an indoor visual plastering construction method, which adopts the following technical solution: An indoor visual plastering construction method comprises the following steps: S1, adjusting the vertical positions of the wiping head and the ash supply head, driving the motor 1 to drive the screw rod to rotate forward or reversely, the screw rod drives the mounting rod to move up or down in the sliding groove, the mounting rod drives the ash supply head and the wiping head to move up or down, and adjusting the ash supply head and the wiping head to a suitable vertical position; S2, adjusting the angle position between the wiping head and the ash supply head, driving the motor 2 to drive the rotating rod 1 to rotate, adjusting the wiping head to a suitable angle, controlling the cylinder through the control module to adjust the distance between the wiping head and the wall, and controlling the motor 4 through the control module to drive the rotating rod to rotate forward or reversely, adjusting the ash supply head to a suitable angle; S3, the ash supply head supplies cement slurry, and the plastering head applies plastering, and the pressure pump is controlled by the control module to transfer the cement slurry in the storage box to the ash supply head, and the ash supply head supplies cement slurry, and drives the motor 1 to drive the plastering head and the ash supply head to plaster the wall surface; S4. Analyze the wall coating effect. During the process of the plaster supply head and the plastering head plastering the wall, the control module drives the camera 1 and the camera 2 to take pictures of the wall, divides the wall information into many small wall pictures, and divides the wall pictures into flat walls and uneven walls. A score can be obtained by calculating the proportion of flat walls. The score is used as a visual scoring result of the wall quality, thereby completing the effect of analyzing the wall coating effect information.

[0022] By adopting the above technical scheme, firstly, the vertical position of the trowel head and the plaster supply head is adjusted, then the angular position of the trowel head and the plaster supply head is adjusted, and then cement slurry is supplied through the plaster supply head. In the process of plastering the wall with the plaster supply head and the trowel head, the wall is photographed with camera one and camera two, and the wall information is divided into many small wall pictures, and the wall pictures are divided into flat walls and uneven walls. A score can be obtained by calculating the proportion of flat walls. The score is used as a visual scoring result of the wall quality, and the wall coating effect information is analyzed. While improving the automation degree and decoration efficiency of building decoration, the wall plastering effect can be monitored and analyzed in real time, thereby further improving the decoration effect.

[0023] In summary, the present application includes at least one of the following beneficial technical effects: 1. The trowel head is slidably arranged on the robot body, and the ash supply head is slidably arranged on the robot body. The ash supply head is arranged obliquely above the trowel head. When the wall needs to be plastered, cement slurry is provided to the trowel head through the feeding mechanism, and the cement slurry is transferred to the contact position between the ash supply head and the wall through the ash supply head. The position of the trowel head is adjusted by the regulating mechanism, which is convenient for plastering the wall. Manual smearing is not required, thereby improving the automation degree of building decoration, reducing the decoration period, and improving the decoration efficiency and decoration effect; 2. Camera 1 is set on the robot body, camera 2 is set on the robot body, camera 2 is set beside the camera, camera 1 and camera 2 are located on both sides of the sliding groove, the control module can control camera 1 through signals, the control module can control camera 2 through signals, camera 1 and camera 2 can perform image acquisition work, camera 1 and camera 2 can shoot the wall image behind the mold wall, and separate the field of view of the two cameras, one to the left and the other to the right, so as to ensure that the largest field of view is obtained; the wall information image after plastering taken on site is used as the collected data set, and the wall information is classified by deep learning, mainly dividing the wall information into many small wall pictures, and dividing these wall pictures into flat walls and non-flat walls. A score can be obtained by calculating the proportion of flat walls, and the score is used as the visual scoring result of the wall quality this time, completing the effect of analyzing the image information; 3. First, adjust the vertical position of the trowel and the mortar supply head, then adjust the angular position of the trowel and the mortar supply head, and then supply cement slurry through the mortar supply head. In the process of plastering the wall with the mortar supply head and the trowel, use camera 1 and camera 2 to take pictures of the wall, divide the wall information into many small wall pictures, and divide the wall pictures into flat walls and uneven walls. A score can be obtained by calculating the proportion of flat walls. The score is used as a visual scoring result of the wall quality. The wall coating effect information is analyzed, and the degree of automation and efficiency of building decoration are improved. At the same time, the wall plastering effect can be monitored and analyzed in real time, thereby further improving the decoration effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the main body of the indoor visual plastering construction robot in the embodiment of the present application.

[0025] Figure 2 It is a schematic diagram of the connection structure between drive component 1 and drive component 2 in an embodiment of the present application.

[0026] Figure 3 It is a schematic diagram of the internal structure of the mounting rod in the embodiment of the present application.

[0027] Description of reference numerals: 1. Robot body; 11. Slide groove; 2. Wiping head; 3. Ash supply head; 4. Control mechanism; 41. Screw; 42. Mounting rod; 421. Adapter groove; 422. Slide hole; 43. Drive component one; 431. Motor two; 432. Rotating rod one; 433. Cylinder; 44. Drive component two; 441. Rack; 4411. Support rod; 4412. Rotating hole; 442. Motor three; 443. Gear; 45. Motor four; 46. Rotating rod two; 5. Feeding mechanism; 51. Feeding pipe; 52. Storage box; 53. Pressure pump; 6. Drive mechanism; 61. Slide; 611. Placement groove; 62. Mecanum wheel; 7. Monitoring mechanism; 71. Camera one; 72. Camera two. DETAILED DESCRIPTION

[0028] The following is combined with Figure 1-3 This application is described in further detail.

[0029] The present application embodiment discloses an indoor visual plastering construction robot body. Figure 1 As shown, the main body of the indoor visual plastering construction robot includes a robot body 1, a plastering head 2, a plaster supply head 3, a regulating mechanism 4, a feeding mechanism 5, a driving mechanism 6 and a monitoring mechanism 7.

[0030] Reference Figure 1 As shown, the driving mechanism 6 includes a slide 61 and a Mecanum wheel 62. The slide 61 is horizontally arranged, and the length direction of the slide 61 is parallel to the ground. A placement groove 611 is provided on the top surface of the slide 61. The length direction of the placement groove 611 is the same as the length direction of the slide 61. The robot body 1 is horizontally fixed in the placement groove 611. There are four Mecanum wheels 62, and the four Mecanum wheels 62 are respectively arranged at the four corners of the slide 61. The Mecanum wheels 62 are rotatably arranged on the slide 61.

[0031] Reference Figure 1 and Figure 2 As shown, a sliding groove 11 is opened on the side of the robot body 1, and the length direction of the sliding groove 11 is perpendicular to the ground. The regulating mechanism 4 includes a control module, a motor 1, a screw 41, a mounting rod 42, a drive component 1 43, a drive component 2 44, a motor 45 and a rotating rod 2 46. The motor 1 is arranged in the robot body 1, and the motor 1 is electrically connected to the control module. The screw 41 is fixed on the output shaft of the motor 1, and the screw 41 is rotatably arranged in the sliding groove 11. The length direction of the screw 41 is the same as the length direction of the sliding groove 11.

[0032] Reference Figure 1 and Figure 2As shown, the mounting rod 42 is threadedly sleeved on the screw rod 41, and the mounting rod 42 is vertically slidably arranged in the sliding groove 11. The length direction of the mounting rod 42 is the same as the length direction of the sliding seat 61. A transfer groove 421 is opened on the side of the mounting rod 42, and the top wall of the transfer groove 421 is connected to the top surface of the mounting rod 42, and the bottom wall of the transfer groove 421 is connected to the bottom surface of the mounting rod 42.

[0033] Reference Figure 1 and Figure 2 As shown, the driving component 43 includes a motor 431, a rotating rod 432 and a cylinder 433. The motor 431 is arranged on the mounting rod 42, the rotating rod 432 is fixed on the output shaft of the motor 431, the rotating rod 432 is rotatably arranged in the adapter groove 421, the rotating rod 432 is rotatably arranged in the mounting rod 42, the cylinder 433 is fixed on the rotating rod 432, the wiper head 2 is fixed on the output shaft of the cylinder 433, and the control module is electrically connected to the motor 431.

[0034] Reference Figure 1 and Figure 2 As shown, the driving motor 2 431 drives the rotating rod 1 432 to rotate, which can adjust the angle of the trowel 2. The control module controls the cylinder 433 to adjust the distance between the trowel 2 and the wall, which is convenient for adjusting the angle and distance between the trowel 2 and the wall, thereby facilitating better plastering of the wall.

[0035] Reference Figure 1 , Figure 2 and Figure 3 As shown, a sliding hole 422 is opened on the top surface of the mounting rod 42, and the driving component 2 44 includes a rack 441, a motor 3 442 and a gear 443. The rack 441 is vertically slidably arranged in the sliding hole 422, and the length direction of the rack 441 is the same as the length direction of the screw 41. The motor 3 442 is arranged on the mounting rod 42, and the control module is electrically connected to the motor 3 442. The gear 443 is fixed on the output shaft of the motor 3 442, and the gear 443 is rotatably arranged in the mounting rod 42. The gear 443 is rotatably arranged in the sliding hole 422, and the gear 443 is meshed with the rack 441.

[0036] Reference Figure 1 and Figure 2 As shown, a support rod 4411 is provided on the top surface of the rack 441, a rotating hole 4412 is opened on the side of the support rod 4411, the top wall of the rotating hole 4412 is communicated with the top surface of the support rod 4411, the motor four 45 is provided on the support rod 4411, the rotating rod two 46 is fixed on the motor output shaft, the rotating rod two 46 is rotatably provided in the rotating hole 4412, the rotating rod two 46 is rotatably provided in the support rod 4411, the ash head 3 is provided on the rotating rod two 46, and the control module is electrically connected to the motor four 45.

[0037] Reference Figure 1 and Figure 2 As shown, when the angle of the ash supply head 3 needs to be adjusted, the control module controls the motor four 45 to drive the rotating rod to rotate forward or reverse, so as to facilitate the adjustment of the angle of the ash supply head 3. When the height of the ash supply head 3 needs to be adjusted, the control module controls the motor three 442 to adjust the gear 443 to rotate forward or reverse, the gear 443 drives the rack 441 to move up or down, and the rack 441 drives the ash supply head 3 to move up or down, so as to facilitate the adjustment of the position of the ash supply head 3.

[0038] Reference Figure 1 As shown, the feeding mechanism 5 includes a feeding pipe 51, a storage box 52 and a pressure pump 53. The storage box 52 is arranged next to the robot body 1, one end of the feeding pipe 51 is connected to the ash supply head 3, and the other end of the feeding pipe 51 is connected to the storage box 52. The pressure pump 53 is arranged on the feeding pipe 51, and the control module is electrically connected to the pressure pump 53. When it is necessary to plaster the wall, the pressure pump 53 is controlled by the control module to transfer the cement slurry in the storage box 52 to the ash supply head 3, so that the ash supply head 3 can supply cement slurry in time.

[0039] Reference Figure 1 As shown, the monitoring mechanism 7 includes a camera 1 71 and a camera 2 72. The camera 1 71 is arranged on the robot body 1, and the camera 2 72 is arranged on the robot body 1. The camera 1 71 and the camera 2 72 are located on both sides of the sliding groove 11. The control module can control the camera 1 71 through a signal, and the control module can control the camera 2 72 through a signal. The camera 1 71 and the camera 2 72 can perform image acquisition work. The camera 1 71 and the camera 2 72 can take the wall image behind the mold wall, and analyze the image information, so as to analyze the quality of the wall.

[0040] The implementation principle of the indoor visual plastering construction robot body in the embodiment of the present application is: When it is necessary to perform plastering operation on the wall, the driving motor 1 drives the screw rod 41 to rotate forward or reversely, the screw 41 drives the installation rod 42 to move up or down in the sliding groove 11, the installation rod 42 drives the ash supply head 3 and the wiping head 2 to move up or down, and adjusts the ash supply head 3 and the wiping head 2 to a suitable vertical position, the driving motor 2 431 drives the rotating rod 1 432 to rotate, adjusts the wiping head 2 to a suitable angle, controls the cylinder 433 to adjust the distance between the wiping head 2 and the wall through the control module, and controls the motor 4 45 to drive the rotating rod to rotate forward or reversely through the control module, and adjusts the ash supply head 3 to a suitable angle The control module controls the pressure pump 53 to transfer the cement slurry in the storage box 52 to the ash supply head 3, and the ash supply head 3 supplies cement slurry. The driving motor 1 drives the trowel head 2 and the ash supply head 3 to plaster the wall. The control module drives the camera 1 71 and the camera 2 72 to take pictures of the wall, and the wall information is divided into many small wall pictures, and the wall pictures are divided into flat walls and uneven walls. A score can be obtained by calculating the proportion of flat walls. The score is used as a visual scoring result of the wall quality this time, thereby completing the effect of analyzing the wall coating effect information.

[0041] The present application also discloses an indoor visual plastering construction method, comprising the following steps: S1, adjust the vertical position of the wiping head 2 and the ash supply head 3, the driving motor drives the screw 41 to rotate forward or reversely, the screw 41 drives the mounting rod 42 to move up or down in the sliding groove 11, and the mounting rod 42 drives the ash supply head 3 and the wiping head 2 to move up or down, and adjust the ash supply head 3 and the wiping head 2 to a suitable vertical position; S2, adjust the angle position of the wiping head 2 and the ash supply head 3, drive the second motor 431 to drive the rotating rod 1 432 to rotate, adjust the wiping head 2 to a suitable angle, control the cylinder 433 through the control module to adjust the distance between the wiping head 2 and the wall, control the motor 4 45 through the control module to drive the rotating rod to rotate forward or reverse, and adjust the ash supply head 3 to a suitable angle; S3, the ash supply head 3 supplies cement slurry, and the trowel head 2 applies plaster. The control module controls the pressure pump 53 to transfer the cement slurry in the storage box 52 to the ash supply head 3. The ash supply head 3 supplies cement slurry, and the driving motor drives the trowel head 2 and the ash supply head 3 to plaster the wall surface; S4. Analyze the wall coating effect. When the plaster head 3 and the plaster head 2 are plastering the wall, the control module drives the camera 1 71 and the camera 2 72 to take pictures of the wall, divides the wall information into many small wall pictures, and divides the wall pictures into flat walls and uneven walls. A score can be obtained by calculating the proportion of flat walls. The score is used as a visual scoring result of the wall quality, thereby completing the effect of analyzing the wall coating effect information.

[0042] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An indoor visual plastering construction robot body, comprising a plastering head (2) for plastering a wall surface, Features: The trowel head (2) is slidably arranged on the robot body (1), and an ash supply head (3) is slidably arranged on the robot body (1). The ash supply head (3) is located obliquely above the trowel head (2). The robot body (1) is provided with a regulating mechanism (4) for regulating the position of the trowel head (2), and a feeding mechanism (5) for supplying cement slurry to the trowel head (2) is provided next to the robot body (1).

2. According to claim 1, an indoor visual plastering construction robot body, Features: A sliding groove (11) is provided on the side of the robot body (1), and the regulating mechanism (4) includes a control module arranged in the robot body (1), a motor 1 electrically connected to the control module, a screw (41) fixed on the output shaft of the motor 1, and a mounting rod (42) threadedly sleeved on the screw (41), the motor 1 is arranged in the robot body (1), the screw (41) is rotatably arranged in the sliding groove (11), the mounting rod (42) is vertically slidably arranged in the sliding groove (11), the ash supply head (3) is arranged on the mounting rod (42), and the wiping head (2) is arranged on the mounting rod (42).

3. According to claim 2, an indoor visual plastering construction robot body, Features: A transfer groove (421) is provided on the side of the mounting rod (42), the top wall of the transfer groove (421) is connected to the top surface of the mounting rod (42), and the bottom wall of the transfer groove (421) is connected to the bottom surface of the mounting rod (42). The regulating mechanism (4) comprises a driving component (43), and the driving component (43) comprises a motor (431) arranged on the mounting rod (42), a rotating rod (432) fixed on the output shaft of the motor (431), and a cylinder (433) fixed on the rotating rod (432). The rotating rod (432) is rotatably arranged in the transfer groove (421), and the rotating rod (432) is rotatably arranged in the mounting rod (42). The wiper head (2) is fixed on the output shaft of the cylinder (433), and the control module is electrically connected to the motor (431).

4. The indoor visual plastering construction robot body according to claim 2, Features: A sliding hole (422) is provided on the top surface of the mounting rod (42); the regulating mechanism (4) comprises a second driving component (44); the second driving component (44) comprises a rack (441) vertically slidably arranged in the sliding hole (422), a third motor (442) arranged on the mounting rod (42) and a gear (443) fixed on the output shaft of the third motor (442); the gear (443) is rotatably arranged in the mounting rod (42); the gear (443) is rotatably arranged in the sliding hole (422); the gear (443) is meshed with the rack (441); the ash supply head (3) is rotatably arranged on the rack (441); and the control module is electrically connected to the third motor (442).

5. The indoor visual plastering construction robot body according to claim 4, Features: A support rod (4411) is arranged on the top surface of the rack (441), a rotating hole (4412) is opened on the side surface of the support rod (4411), the top wall of the rotating hole (4412) is connected to the top surface of the support rod (4411), the regulating mechanism (4) comprises a motor four (45) arranged on the support rod (4411) and a rotating rod two (46) fixed on the output shaft of the motor, the rotating rod two (46) is rotatably arranged in the rotating hole (4412), the rotating rod two (46) is rotatably arranged in the support rod (4411), the ash supply head (3) is arranged on the rotating rod two (46), and the control module is electrically connected to the motor four (45).

6. The indoor visual plastering construction robot body according to claim 2, Features: The feeding mechanism (5) comprises a feeding pipe (51) having one end connected to the ash supply head (3), a storage box (52) arranged next to the robot body (1), and a pressure pump (53) arranged on the feeding pipe (51); the other end of the feeding pipe (51) is connected to the storage box (52), and the control module is electrically connected to the pressure pump (53).

7. The indoor visual plastering construction robot body according to claim 2, Features: The robot body (1) is provided with a driving mechanism (6), the driving mechanism (6) comprising a slide seat (61) provided on the robot body (1) and Mecanum wheels (62) provided at four corners of the slide seat (61), a placement groove (611) is provided on the top surface of the slide seat (61), the robot body (1) is arranged in the placement groove (611), and the control module can control the Mecanum wheels (62) through signals.

8. The indoor visual plastering construction robot body according to claim 2, Features: The robot body (1) is provided with a monitoring mechanism (7), the monitoring mechanism (7) comprising a camera 1 (71) provided on the robot body (1), and a camera 2 (72) provided next to the camera 1 (71), the camera 2 (72) being provided on the robot body (1), the camera 1 (71) and the camera 2 (72) being located on both sides of the sliding groove (11), the control module being able to control the camera 1 (71) by means of a signal, and the control module being able to control the camera 2 (72) by means of a signal.

9. An indoor visual plastering construction method, according to the indoor visual plastering construction robot body according to any one of claims 1 to 8, It is characterized in that The steps include: S1, adjusting the vertical positions of the wiping head (2) and the ash supply head (3), driving the motor 1 to drive the screw rod (41) to rotate forward or reversely, the screw rod (41) drives the mounting rod (42) to move up or down in the sliding groove (11), and the mounting rod (42) drives the ash supply head (3) and the wiping head (2) to move up or down, and adjusting the ash supply head (3) and the wiping head (2) to a suitable vertical position; S2, adjusting the angular position of the wiping head (2) and the ash supply head (3), driving the second motor (431) to drive the first rotating rod (432) to rotate, adjusting the wiping head (2) to a suitable angle, controlling the cylinder (433) through the control module to adjust the distance between the wiping head (2) and the wall, controlling the fourth motor (45) through the control module to drive the rotating rod to rotate forward or reverse, and adjusting the ash supply head (3) to a suitable angle; S3, the ash supply head (3) supplies cement slurry, and the plastering head (2) performs plastering. The pressure pump (53) is controlled by the control module to transfer the cement slurry in the storage box (52) to the ash supply head (3). The ash supply head (3) supplies cement slurry and drives the motor 1 to drive the plastering head (2) and the ash supply head (3) to plaster the wall surface; S4, analyzing the wall coating effect. During the process of the plaster supply head (3) and the plastering head (2) plastering the wall, the control module drives the camera 1 (71) and the camera 2 (72) to take pictures of the wall, divides the wall information into many small wall pictures, and divides the wall pictures into flat walls and uneven walls. A score can be obtained by calculating the proportion of the flat walls. The score is used as a visual scoring result of the wall quality, thereby completing the effect of analyzing the wall coating effect information.

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