BC-IOT-based building masonry and inlaying robot control method and device

Abstract

The invention discloses a BC-IOT-based robot control method and device for building masonry and inlaying. The method comprises the following steps: deploying a BC-IOT network; reference data are determined according to construction requirements and building materials; a space coordinate system of the wall body is constructed, and the fixing positions of the robot and the positioning base station are determined to fix the robot; the building and pasting position of the building and pasting material is determined according to the positioning base station and the building and pasting distance, and an adhesive is sprayed to the building and pasting position; the mechanical arm is used for grabbing the building and pasting material at the set position to the building and pasting position, and building and pasting are conducted after the position and posture of the building and pasting material are calibrated through the positioning device and the tilt angle sensor. The problem that in the prior art, the requirement of the building industry for talent full-period training is difficult to meet is solved, the method can be used for building major student practical training teaching, and the construction requirements are formulated in the early stage, the building and pasting position is determined in the middle stage, and the building and pasting task is conducted through a machine in the later stage; students can be familiar with the whole life cycle of the building industry chain, and personnel safety can be guaranteed.

Description

Technical Field

[0001] The present application relates to the field of intelligent control technology, and in particular to a BC-IOT-based robot control method and device for building masonry and tiling. Background Art

[0002] At present, the employment market for prefabricated construction technical talents is extensive, and all enterprises need to introduce a large number of prefabricated technical talents, but most of the talents in the market now have theoretical knowledge and lack practical construction experience. The construction industry involves multiple links, which are closely linked and have a huge impact. In addition, the actual process is dangerous and cannot meet the needs of personnel (especially graduates or students) to participate in the whole process, which naturally leads to a lack of talents with practical experience and understanding of the whole cycle in the market.

[0003] At present, most vocational colleges still follow the traditional professional settings of architectural design, technology, transportation, installation, engineering management and other traditional majors that are closely related to the industrialization of construction. They are scattered and unconnected, and are no longer adapted to the laws of industrial development and professional construction. In addition, in the face of changes and upgrades in the construction industry, the requirements for intelligent construction, intelligent buildings and management are getting higher and higher. Traditional teaching methods can no longer meet the full life cycle of the prefabricated building industry chain and are difficult to meet the market's demand for talents. Summary of the invention

[0004] The embodiments of the present application provide a robot control method and device for building masonry and tiling based on BC-IOT, thereby solving the problem that the existing technology is difficult to meet the full-cycle talent training needs of the construction industry. A robot control method and device for building masonry and tiling based on BC-IOT is realized, which can be used for practical training of students majoring in construction-related majors to familiarize them with the full life cycle of the construction industry chain.

[0005] In the first aspect, an embodiment of the present application provides a robot control method for building masonry and tiling based on BC-IOT, comprising: deploying a BC-IOT network at a construction site, wherein the BC-IOT network is provided with a positioning device, an inclination sensor, a positioning base station and an optical ruler; determining reference data according to construction requirements and masonry materials; wherein the reference data includes the inflection point position of the wall and the masonry spacing; constructing a spatial coordinate system of the wall according to the construction requirements and the inflection point position, and determining the fixed position of the robot and the positioning base station to fix them; wherein the robot's mechanical arm is equipped with a positioning device and an inclination sensor for collecting data and transmitting it back to the control system; determining the masonry position of the masonry material according to the positioning base station and the masonry spacing, and spraying adhesive at the masonry position; using a mechanical arm to grab the masonry material at a set position, and controlling the mechanical arm through the positioning device and the inclination sensor to masonry the masonry material to the masonry position.

[0006] In combination with the first aspect, in a possible implementation method, the deployment of the BC-IOT network at the construction site includes: the positioning device, the inclination sensor and the optical ruler respectively send the collected data to the BC-IOT network through their respective communication interfaces for data calculation and then upload to the IOT edge box; the optical ruler receives the data measured by the positioning base station and sends it to the IOT edge box through its own communication interface.

[0007] In combination with the first aspect, in a possible implementation method, the benchmark data is determined according to the construction requirements and masonry materials, including: determining the position of the wall and the position of the wall inflection point at the connection between the walls according to the construction requirements; determining the masonry spacing for each masonry according to the masonry materials; wherein the masonry spacing includes a horizontal spacing and a vertical spacing.

[0008] In combination with the first aspect, in a possible implementation method, the spatial coordinate system of the wall is constructed at the inflection point according to the construction requirements, and the fixed positions of the robot and the positioning base station are determined to fix them, including: taking the inflection point of the wall as the coordinate origin, and constructing the spatial coordinate system with the extension direction, thickness direction and height direction of the wall as coordinate axes; fixing the robot's mechanical arm in the coordinate system plane where the extension direction and thickness direction of the wall are located according to the range of motion of the robot's mechanical arm; and the positioning base station is fixed at the position where the inflection point of the wall is located.

[0009] In combination with the first aspect, in a possible implementation, determining the masonry position of the masonry material according to the distance between the positioning base station and the masonry includes: when performing a masonry task, the masonry position is specifically as follows:

[0010]

[0011] and In the formula, (i, j, z) n,m Indicates the coordinates of the corner point of the nth masonry material in the mth layer that is closest to the coordinate origin. Represents the same as (i,j,z) n,m The coordinates of the corner points of the opposite corners, k represents the length of the masonry material, a represents the thickness of the adhesive between the masonry materials, h represents the height of the masonry material, L represents the length of the wall, that is, the distance between adjacent positioning base stations, and H represents the height of the wall. Indicates rounding up.

[0012] In combination with the first aspect, in a possible implementation, determining the tiling position of the tiling material according to the distance between the positioning base station and the tiling includes: when performing a tiling task, the tiling position is specifically as follows:

[0013] (i,j,z) n,m =(0,(n-1)k+nb,(m-1)h+mb),

[0014] and In the formula, (i, j, z) n,m Indicates the coordinates of the corner point of the nth masonry material in the mth layer that is closest to the coordinate origin. Represents the same as (i,j,z) n,m The coordinates of the corner points of the opposite corners, k represents the length of the masonry material, b represents the spacing between the masonry materials, h represents the height of the masonry materials, L represents the length of the wall, that is, the distance between adjacent positioning base stations, and H represents the height of the wall. Indicates rounding up.

[0015] In combination with the first aspect, in a possible implementation, the use of a robotic arm to grab the paving material to the paving position includes: when performing a masonry task, the robotic arm is connected to a gripper, and the rear end is connected to a cylinder and an air compressor; when performing a paving task, the robotic arm is configured as a suction cup, and the rear end is connected to a vacuum valve and an air compressor.

[0016] In combination with the first aspect, in a possible implementation method, after calibrating the position of the masonry material through the positioning device and the inclination sensor for masonry, it also includes: obtaining the target position and target inclination of the target masonry material grasped by the robot arm through the positioning device and the inclination sensor respectively; obtaining the coordinates of the multiple positioning base stations, and converting them to the same spatial coordinate system, and calculating the target distance of each positioning base station from the target position; binding and storing the target distance, the target inclination and the target masonry material.

[0017] In the second aspect, the embodiment of the present application provides a robot control device for building masonry and tiling, including: a deployment module, used to deploy a BC-IOT network at a construction site, wherein the BC-IOT network is provided with a positioning device, an inclination sensor, a positioning base station and an optical ruler; a determination module, used to determine reference data according to construction requirements and masonry materials; wherein the reference data includes the inflection point position of the wall and the masonry spacing; a fixing module, used to construct a spatial coordinate system of the wall according to the construction requirements and the inflection point position, and determine the fixed position of the robot and the positioning base station to fix them; wherein the robot's mechanical arm is equipped with a positioning device and an inclination sensor for collecting data and transmitting it back to the control system; a positioning module, used to determine the masonry position of the masonry material according to the positioning base station and the masonry spacing, and spray adhesive at the masonry position; a masonry module, used to grab the masonry material at a set position using a mechanical arm, and control the mechanical arm through the positioning device and the inclination sensor to masonry the masonry material to the masonry position.

[0018] In a third aspect, an embodiment of the present application provides a device, comprising: a processor; a memory for storing processor-executable instructions; when the processor executes the executable instructions, it implements the method described in the first aspect or any possible implementation method of the first aspect.

[0019] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0020] The embodiment of the present application can realize efficient transmission and processing of data at a relatively low cost by utilizing the BC-IOT network. The building volume and benchmark data can be clarified through construction requirements. By establishing the spatial coordinate system of the wall, it is easy to determine the masonry position of the masonry materials. By determining the masonry position and setting the stacking position of the masonry materials, the robot can perform automatic masonry tasks. It effectively solves the problem of the difficulty in meeting the full-cycle talent training needs of the construction industry, and can be used for practical training of students in construction-related majors. By formulating construction requirements in the early stage, determining the masonry position in the middle stage, and performing masonry tasks by machines in the later stage, students can be familiar with the entire life cycle of the construction industry chain, understand the building structure and its construction process, and ensure personnel safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 A flowchart of a robot control method for building masonry and tiling based on BC-IOT provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of the structure of a BC-IOT-based robot control device for building masonry and tiling provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] The following describes some of the techniques involved in the embodiments of the present application to facilitate understanding, and they should be considered as merely exemplary. Therefore, it should be appreciated by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, some descriptions of well-known functions and structures are omitted in the following description.

[0026] The BC-IOT-based building masonry and tiling robot control method provided in the present application is based on the BC-IOT (English full name: Narrowband Internet of Things, Chinese: Narrowband Internet of Things) network, which is a low-power wide-area Internet of Things (LPWAN) technology. It utilizes the idle resources of the LTE network and is deployed on the existing LTE infrastructure to provide a low-power, long-distance communication solution.

[0027] Figure 1 1 is a flow chart of a robot control method for building masonry and tiling based on BC-IOT provided in an embodiment of the present application, including steps 101 to 105. Among them, Figure 1 This is only an execution order shown in the embodiment of the present application, and does not represent the only execution order of the robot control method for building masonry and tiling based on BC-IOT. In the case that the final result can be achieved, Figure 1 The steps shown may be performed in parallel or reversed.

[0028] Step 101: Deploy the BC-IOT network at the construction site. The BC-IOT network is equipped with a positioning device, an inclination sensor, a positioning base station and an optical ruler. In an embodiment of the present application, the BC-IOT network is a narrowband Internet of Things communication technology based on a cellular network, which is specially designed for Internet of Things devices. It has low power consumption and can run for several years on battery power. Moreover, a single base station can support a large number of devices to access at the same time. In addition, its coverage is wide. Compared with traditional cellular networks, the BC-IOT network has better penetration and coverage capabilities, and can penetrate deep into basements, tunnels and other places where signals are difficult to reach. The network signal of the construction site used in this application is difficult to maintain stability. The use of the BC-IOT network can achieve efficient transmission and processing of data at a lower cost.

[0029] In the embodiment of the present application, the positioning device, the inclination sensor and the optical ruler send the collected data to the BC-IOT network through their respective communication interfaces for data calculation and then upload to the IOT edge box. The optical ruler receives the data measured by the positioning base station and sends it to the IOT edge box through its own communication interface.

[0030] Exemplarily, the positioning device in the present application uses UWB wireless communication technology to perform UWB positioning according to the time difference of the signal reaching the base station. Through the 485 interface, using the modbus protocol, the tilt sensor measures its own X, Y, and Z axis tilt data to the IOT edge box in real time. According to the real-time reported spatial relative position data and tilt data measured by UWB positioning, the IOT edge box performs attitude calculation.

[0031] Step 102: Determine the benchmark data according to the construction requirements and masonry materials. The benchmark data includes the position of the wall inflection point and the masonry spacing. In the embodiment of the present application, firstly, draw the construction drawing according to the construction requirements to determine the length and height of each wall in the building. Determine the position of the wall and the position of the wall inflection point where the wall joins the wall according to the construction requirements. Determine the masonry spacing for each masonry according to the masonry materials. The masonry spacing includes the horizontal spacing and the vertical spacing.

[0032] The inflection point of a wall refers to the intersection of walls in different directions. The masonry spacing refers to the distribution spacing between different masonry materials in masonry or tiling tasks.

[0033] Step 103: Construct the spatial coordinate system of the wall according to the construction requirements and the inflection point position, and determine the fixed position of the robot and the positioning base station to fix them. In the embodiment of the present application, a positioning device and an inclination sensor for collecting data and transmitting it back to the control system are installed at the end of the robotic arm. The data information transmitted back by the positioning device and the inclination sensor can realize the path planning and precise control of the robotic arm.

[0034] Exemplarily, the robot used is a six-axis robot with a motion radius of 1700mm and is floor-mounted. It contains 6 degrees of freedom of movable axes, a payload of 3KG, a maximum load of 6KG, and a repeatability of +0.02mm. Motion range: J1 axis ±180°, J2 axis -162°~+88°, J3 axis -85°~+150°, J4 axis ±162°, J5 axis ±105°, J6 axis ±360°. Maximum motion speed: J1 axis 157° / S, J2 axis 162° / S, J3 axis 173° / S, J4 axis 257.2° / S, J5 axis 297° / S, J6 axis 375° / S.

[0035] In the embodiment of the present application, the inflection point of the wall is used as the coordinate origin, and the extension direction, thickness direction and height direction of the wall are used as coordinate axes to construct a spatial coordinate system. According to the range of motion of the robot's mechanical arm, it is fixed in the coordinate system plane where the extension direction and thickness direction of the wall are located. The positioning base station is fixed at the position where the inflection point of the wall is located.

[0036] Specifically, in practical applications, since masonry materials usually have a large thickness, the inflection points of the wall formed include an outer inflection point and an inner inflection point. The present application exemplarily adopts the inner inflection point as the coordinate origin O, takes the extension direction of the wall, that is, the length direction as the Y-axis, the thickness direction of the wall as the X-axis, and the height direction of the wall as the Z-axis to establish a spatial coordinate system. According to the range of motion of the robot manipulator, it is installed in the XOY plane where the X-axis and the Y-axis are located, so that the number of movements or the distance of the manipulator is minimized when masonry corresponding walls. In practical applications, a building has at least four walls. The present application will fix the positioning base station at the inner inflection points of these four walls to determine the reference position of the building.

[0037] Step 104: Determine the masonry position of the masonry material according to the positioning base station and the masonry distance, and spray the adhesive at the masonry position. In the embodiment of the present application, when the robot performs the masonry task, the masonry position is determined as follows:

[0038]

[0039] and In the formula, (i, j, z) n,m Indicates the coordinates of the corner point of the nth masonry material in the mth layer that is closest to the coordinate origin. Represents the same as (i,j,z) n,m The coordinates of the corner points of the opposite corners, k represents the length of the masonry material, a represents the thickness of the adhesive between the masonry materials, h represents the height of the masonry material, L represents the length of the wall, that is, the distance between adjacent positioning base stations, and H represents the height of the wall. Indicates rounding up.

[0040] When the robot performs the tiling task, the tiling positions are as follows:

[0041] (i,j,z) n,m =(0,(n-1)k+nb,(m-1)h+mb),

[0042] and In the formula, (i, j, z) n,m Indicates the coordinates of the corner point of the nth masonry material in the mth layer that is closest to the coordinate origin. Represents the same as (i,j,z) n,m The coordinates of the corner points of the opposite corners, k represents the length of the masonry material, b represents the spacing between the masonry materials, h represents the height of the masonry materials, L represents the length of the wall, that is, the distance between adjacent positioning base stations, and H represents the height of the wall. Indicates rounding up.

[0043] The above method is used to first determine the coordinates of the reference point of the masonry material, and then further calibrate the masonry material through its diagonal coordinates. By controlling the two diagonal coordinates of the masonry material, the inclination angle of the masonry material relative to XOY, that is, the ground plane, can be controlled to ensure that during the masonry process, each piece of masonry material is parallel to the ground to ensure the beauty and stability of the wall.

[0044] Those skilled in the art should realize that if the origin coordinates of the spatial coordinate system are determined as the outer inflection point of the wall, the X-coordinates and Y-coordinates of the corner points of the masonry materials mentioned above need to be added with the thickness of the wall.

[0045] In addition, after determining the masonry position, the mechanical arm sprays adhesive on it to facilitate subsequent masonry tasks. When spraying the adhesive, attention should be paid to the range of one spraying. The technicians in this field can set it according to experience, so as to avoid that the spraying area is too large and the adhesive dries up when the mechanical arm masonry is at the corresponding position. It is also necessary to avoid spraying to the area where the masonry task has been completed, which will affect the appearance of the wall and cause unnecessary waste of materials.

[0046] Step 105: Use the mechanical arm to grab the masonry materials at the set position, and control the mechanical arm to masonry the masonry materials to the masonry position through the positioning device and the inclination sensor. In an embodiment of the present application, when performing a masonry task, the mechanical arm is connected to the gripper, and the rear end is connected to the cylinder and the air compressor. Specifically, the gripper is installed at the end of the mechanical arm through a connecting rod or an interface, and the cylinder is directly connected to the gripper. The cylinder serves as one of the power sources of the gripper, and drives the opening and closing of the gripper by controlling the change in air pressure. Use an air pipe to connect the cylinder to the air compressor to ensure that the air pressure can be transmitted smoothly. The air compressor provides compressed air to provide power for the cylinder and the vacuum valve.

[0047] When performing the tiling task, the robot arm is configured as a suction cup, and the rear end is connected to a vacuum valve and an air compressor. Specifically, the air compressor generates compressed air after startup, and the compressed air is transported to the vacuum valve through a pipeline. When the robot arm moves the suction cup to the top of the target masonry material and is ready to grab it, the control system sends a signal to the vacuum valve, and the vacuum valve opens, allowing compressed air to pass through and discharge the air in the suction cup, thereby forming a negative pressure environment inside the suction cup. As the negative pressure inside the suction cup increases, the air between the suction cup and the surface of the target masonry material is quickly discharged, forming a vacuum area. The external atmospheric pressure will force the surface of the target masonry material to be in close contact with the suction cup, and generate a strong adsorption force to fix the target masonry material on the suction cup to achieve grabbing.

[0048] After the robot grabs the target masonry material from the set position, it will masonry it at the corresponding position according to the calculated coordinates of the two corner points. The set position is stored in the robot's control system in advance. The set position is used as the starting point and the calculated corner point position is used as the end point to plan the path for the robot until it masonry the target masonry material to the corresponding position.

[0049] In addition, after calibrating the position of the masonry material by the positioning device and the inclination sensor and performing masonry, the method further includes: obtaining the target position and target inclination of the target masonry material grasped by the robot arm by the positioning device and the inclination sensor respectively. Obtaining the coordinates of multiple positioning base stations, converting them to the same spatial coordinate system, and calculating the target distance between each positioning base station and the target position respectively. Binding and storing the target distance, target inclination, and target masonry material.

[0050] Specifically, the positioning device obtains the position information of the positioning base station and calculates the target distance between the positioning device and the target position located by the mechanical arm positioning device, that is, the target position of the target masonry material grasped by the mechanical arm. Exemplarily, the positioning technology here can use UWB (Ultra-WideBand) positioning technology, which is a technology that uses the ultra-wideband characteristics of the signal for high-precision positioning. Its principle is to calculate the position of the object by measuring the time delay difference of the signal in the spatial propagation.

[0051] The target inclination angle of the target masonry material grasped by the robot arm is obtained by using the inclination sensor. The inclination sensor is a device that can sense the inclination angle of an object relative to a horizontal or vertical plane. It is usually composed of a group of sensing elements that can generate corresponding electrical signal output according to the inclination angle of the object.

[0052] Finally, the target distance, target inclination and the corresponding grasped target masonry material are stored in the database as a set of corresponding information and uploaded to the robot's control system for data verification, so that the position of each masonry material is correct to avoid engineering accidents.

[0053] Although the present application provides method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps listed in this embodiment is only one way of executing the order of many steps and does not represent the only execution order. When the actual device or client product is executed, it can be executed in sequence or in parallel according to the method shown in this embodiment or the accompanying drawings (for example, in a parallel processor or multi-threaded processing environment).

[0054] like Figure 2 As shown, the embodiment of the present application also provides a robot control device 200 for building masonry and tiling. The device includes: a deployment module 201, a determination module 202, a fixing module 203, a positioning module 204 and a masonry and tiling module 205, as follows.

[0055] The deployment module 201 is used to deploy the BC-IOT network at the construction site. The BC-IOT network is provided with a positioning device, an inclination sensor, a positioning base station and an optical ruler.

[0056] The determination module 202 is used to determine the benchmark data according to the construction requirements and the masonry materials, wherein the benchmark data includes the position of the wall inflection point and the masonry spacing.

[0057] The fixing module 203 is used to construct the spatial coordinate system of the wall at the inflection point according to the construction requirements, and determine the fixed position of the robot and the positioning base station to fix them. Among them, the robot's mechanical arm is equipped with a positioning device and an inclination sensor for collecting data and transmitting it back to the control system.

[0058] The positioning module 204 is used to determine the paving position of the paving material according to the positioning base station and the paving distance, and spray adhesive at the paving position.

[0059] The paving module 205 is used to grab the paving material at a set position using a mechanical arm, and control the mechanical arm to pave the paving material to the paving position through a positioning device and an inclination sensor.

[0060] Some modules in the apparatus described in the present application can be described in the general context of computer executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0061] The devices or modules described in the above application embodiments can be implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above devices are described in various modules according to their functions. When implementing the embodiments of the present application, the functions of each module can be implemented in the same or multiple software and / or hardware. Of course, the module that implements a certain function can also be implemented by combining multiple sub-modules or sub-units.

[0062] The methods, devices or modules described in this application can be implemented in the form of computer-readable program codes. The controller can be implemented in any appropriate manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program codes (such as software or firmware) that can be executed by the (micro)processor, logic gates, switches, application-specific integrated circuits (English: Application Specific Integrated Circuit; Abbreviation: ASIC), programmable logic controllers and embedded microcontrollers. Examples of controllers include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in a purely computer-readable program code, the controller can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included in it for implementing various functions can also be regarded as structures within the hardware component. Or even, the means for realizing various functions may be regarded as both a software module for realizing the method and a structure within a hardware component.

[0063] An embodiment of the present application further provides a device, comprising: a processor; a memory for storing processor executable instructions; when the processor executes the executable instructions, the method described in the embodiment of the present application is implemented.

[0064] The embodiments of the present application also provide a non-volatile computer-readable storage medium on which a computer program or instruction is stored. When the computer program or instruction is executed, the method described in the embodiments of the present application is implemented.

[0065] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist independently, or two or more modules may be integrated into one module.

[0066] The above storage media include but are not limited to random access memory (RAM), read-only memory (ROM), cache, hard disk (HDD) or memory card. The memory can be used to store computer program instructions.

[0067] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary hardware. Based on such an understanding, the technical solution of the present application can be essentially or partly contributed to the prior art in the form of a software product, or it can be reflected in the implementation process of data migration. The computer software product can be stored in a storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a mobile terminal, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0068] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. All or part of this application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld devices or portable devices, tablet devices, mobile communication terminals, multi-processor systems, microprocessor-based systems, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc.

[0069] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present application.

Claims

1. A robot control method for building masonry and tiling based on BC-IOT, characterized in that: include: Deploy a BC-IOT network at the construction site, wherein the BC-IOT network is equipped with a positioning device, a tilt sensor, a positioning base station and an optical ruler; Determine the benchmark data according to the construction requirements and masonry materials; wherein the benchmark data includes the position of the wall inflection point and the masonry spacing; A spatial coordinate system of the wall is constructed according to the construction requirements and the position of the inflection point, and the fixed positions of the robot and the positioning base station are determined and fixed; wherein the robot's mechanical arm is equipped with a positioning device and an inclination sensor for collecting data and transmitting it back to the control system; Determine the masonry position of the masonry material according to the distance between the positioning base station and the masonry, and spray adhesive at the masonry position; The mechanical arm is used to grab the paving material at a set position, and the mechanical arm is controlled by a positioning device and an inclination sensor to pave the paving material to the paving position.

2. The method according to claim 1, characterized in that The deployment of the BC-IOT network at the construction site includes: The positioning device, the inclination sensor and the optical ruler respectively send the collected data to the BC-IOT network through their respective communication interfaces for data calculation and then upload to the IOT edge box; The optical ruler receives the data measured by the positioning base station and sends it to the IOT edge box through its own communication interface.

3. The method according to claim 1, characterized in that The benchmark data is determined according to the construction requirements and masonry materials, including: Determine the position of the wall and the position of the wall inflection point where the wall joins the wall according to the construction requirements; The masonry spacing for each masonry process is determined according to the masonry material; wherein the masonry spacing includes a transverse spacing and a longitudinal spacing.

4. The method according to claim 1, characterized in that: The step of constructing a spatial coordinate system of the wall at the inflection point according to the construction requirements, and determining the fixed positions of the robot and the positioning base station to fix them, includes: Taking the inflection point of the wall as the coordinate origin, and taking the extension direction, thickness direction and height direction of the wall as coordinate axes respectively, constructing the spatial coordinate system; The robot arm is fixed in the coordinate plane where the extension direction and thickness direction of the wall are located according to the range of motion of the robot arm; The positioning base station is fixed at the position where the inflection point of the wall is located.

5. The method according to claim 1, characterized in that The determining the masonry position of the masonry material according to the positioning base station and the masonry distance comprises: When performing the masonry task, the masonry positions are as follows: and In the formula, (i, j, z) n,m Indicates the coordinates of the corner point of the nth masonry material in the mth layer that is closest to the coordinate origin. Represents the same as (i,j,z) n,m The coordinates of the corner points of the opposite corners, k represents the length of the masonry material, a represents the thickness of the adhesive between the masonry materials, h represents the height of the masonry material, L represents the length of the wall, that is, the distance between adjacent positioning base stations, and H represents the height of the wall. Indicates rounding up.

6. The method according to claim 1, characterized in that The determining the masonry position of the masonry material according to the positioning base station and the masonry distance comprises: When performing the tiling task, the tiling positions are as follows: (i,j,z) n,m =(0,(n-1)k+nb,(m-1)h+mb), and In the formula, (i, j, z) n,m Indicates the coordinates of the corner point of the nth masonry material in the mth layer that is closest to the coordinate origin. Represents the same as (i,j,z) n,m The coordinates of the corner points of the opposite corners, k represents the length of the masonry material, b represents the spacing between the masonry materials, h represents the height of the masonry materials, L represents the length of the wall, that is, the distance between adjacent positioning base stations, and H represents the height of the wall. Indicates rounding up.

7. The method according to claim 1, characterized in that The method of using a mechanical arm to grab the paving material to the paving position includes: When performing masonry tasks, the robot arm is connected to the gripper, and the rear end is connected to the cylinder and air compressor; When performing the mounting task, the robotic arm is configured as a suction cup, and the rear end is connected to a vacuum valve and an air compressor.

8. The method according to claim 1, characterized in that After calibrating the position of the paving material by the positioning device and the inclination sensor and then paving, the method further includes: The target position and target inclination angle of the target masonry material grasped by the robot arm are respectively obtained through the positioning device and the inclination sensor; Acquire the coordinates of the plurality of positioning base stations, convert them into the same spatial coordinate system, and respectively calculate the target distance between each positioning base station and the target position; The target distance, the target inclination angle and the target masonry material are bound and stored.

9. A robot control device for building masonry and tiling, characterized in that: include: A deployment module is used to deploy a BC-IOT network at a construction site, wherein the BC-IOT network is provided with a positioning device, an inclination sensor, a positioning base station and an optical ruler; A determination module is used to determine the benchmark data according to the construction requirements and masonry materials; wherein the benchmark data includes the position of the wall inflection point and the masonry spacing; A fixing module is used to construct a spatial coordinate system of the wall according to the construction requirements and the position of the inflection point, and to determine the fixed positions of the robot and the positioning base station to fix them; wherein the robot's mechanical arm is equipped with a positioning device and an inclination sensor for collecting data and transmitting it back to the control system; A positioning module, used to determine the paving position of the paving material according to the distance between the positioning base station and the paving, and spray adhesive at the paving position; The paving module is used to grab the paving material at a set position using a mechanical arm, and control the mechanical arm to paste the paving material to the paving position through a positioning device and an inclination sensor.

10. A device for executing a robot control method for building masonry and tiling based on BC-IOT, characterized in that: include: processor; a memory for storing processor-executable instructions; When the processor executes the executable instructions, the method according to any one of claims 1 to 8 is implemented.

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