Automatic brick wall building method and storage medium

Abstract

The invention discloses an automatic masonry method of a brick wall and a storage medium, and the method comprises the steps: obtaining a first-layer masonry starting point and an end point of a to-be-built area, and positioning a placement area; the camera device is controlled to move to the position over the placement area for shooting, and a to-be-recognized image is obtained; inputting the to-be-recognized image into the ground flatness recognition model, judging whether the ground of the placement area is flat or not, and if the ground of the placement area is not flat, controlling finishing equipment to perform leveling operation on the ground of the placement position; if the bricks are flat, the grabbing equipment is controlled to grab the bricks matched with the placing area and place the bricks in the placing area; and the camera shooting equipment is controlled to sequentially move to the position above the next placement area in the masonry direction, and the steps are repeated till masonry of the first layer of bricks is completed. In the construction process of the first layer close to the ground, the flatness of the ground is detected before the bricks are placed every time, the flatness of the ground of the placing area is recognized, the flatness of the ground when the bricks are placed every time is guaranteed, and the wall surface can be stably constructed.

Description

Technical Field

[0001] The invention relates to the technical field of automatic masonry, and in particular to an automatic masonry method for a brick wall and a storage medium. Background Art

[0002] Traditional masonry walls rely on manual masonry, which is labor-intensive and inefficient. With the emergence of intelligent robots, robots that can help humans build walls have emerged.

[0003] When building a wall, a building plan is usually generated in advance and then input into a computer. The computer will control the robot to grab and place bricks in the corresponding positions according to the building plan to complete the wall building. However, when building a wall, the wall is built layer by layer, and the stability of the first layer needs to be ensured. When building a wall, the ground is prone to unevenness, such as protrusions or pits. Therefore, the flatness of the ground needs to be tested before building. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic brick wall construction method and storage medium. During the construction of the first layer close to the ground, the flatness of the ground is detected before each brick is placed, and the flatness of the ground in the placement area is identified to ensure the flatness of the ground each time the brick is placed, which helps to stably build the wall.

[0005] On the one hand, the present application provides an automatic brick wall construction method, which specifically includes the following steps: S1. Obtain the starting point and end point of the first layer of masonry in the area to be built, and locate the placement area; S2, controlling the camera to move to the top of the placement area to take pictures, and obtaining an image to be recognized; S3, input the image to be identified into the ground flatness recognition model to determine whether the ground of the placement area is flat, if it is flat, execute step S4, if it is not flat, control the finishing equipment to level the ground of the placement position; S4, controlling the grabbing device to grab the bricks matching the placement area and place them in the placement area; S5, control the camera device to move in sequence along the laying direction to the top of the next placement area, refresh the laying starting point and repeat steps S2-S4 until the laying of the first layer of bricks is completed.

[0006] In some specific embodiments, the specific process of step S2 is: S21, taking the starting point of masonry as a reference and adding the size of the bricks to be placed, to obtain a placement area; S22, calculating the center point of the placement area as the placement position positioning point; S23, control the camera device to move to just above the placement position positioning point so that the shooting center of the camera device coincides with the placement position positioning point, and adjust the shooting range of the camera device so that the shooting range of the camera device can cover the placement area for shooting to obtain the image to be recognized.

[0007] In some specific embodiments, the specific process of step S21 is: Taking the starting point of masonry as the reference point, calculate the first straight-line distance from the starting point of masonry to the end point; Determine whether the first straight-line distance is greater than the length of a complete brick. If so, add the size of a complete brick to the starting point of the masonry to obtain the placement area; If not, the placement area is obtained by taking the starting point of masonry as the reference and adding the brick size corresponding to the first straight-line distance.

[0008] In some specific embodiments, the specific process of step S4 is: When the size of the placement area can accommodate a whole brick, the grabbing device is controlled to grab the whole brick, and the center of the brick is aligned with the center of the placement area, and the whole brick is placed in the placement area; When the size of the placement area is smaller than the size of a whole brick, the grabbing device is controlled to grab the brick corresponding to the size of the placement area, the center of the brick is aligned with the center of the placement area, and the brick is placed in the placement area.

[0009] In some specific methods, the masonry starting point and end point are the two ends of the boundary of the area to be built, and the masonry starting point is refreshed as the placement area is updated. When moving to the next placement area, the masonry starting point is updated, and the outermost side of the previous placement area close to the next placement area is used as the masonry starting point.

[0010] In some specific embodiments, when the masonry area is a right-angle wall, the masonry area includes a first area and a second area, and the end point includes a first end point and a second end point. When the masonry direction is from the first area to the second area, the masonry of the first layer of bricks in the first area is completed according to steps S1-S5 for the first area. When the first layer of bricks in the first area is completed, the camera device is controlled to change direction and refresh the starting point of the laying, and then the first layer of bricks in the second area is completed according to the steps S1-S5.

[0011] In some specific embodiments, the masonry method at the intersection of the first area and the second area is: When the masonry reaches the first area close to the first end point, the first straight-line distance from the current masonry starting point to the first end point is calculated with the current masonry starting point as the reference point; Determine whether the first straight-line distance is less than the length of a complete brick. If the first straight-line distance is less than the length of a complete brick, then continue to determine whether the first straight-line distance is equal to the width of a complete brick. If the first straight-line distance is equal to the width of a complete brick, then the second placement area is obtained by taking the first end point as the starting point of the masonry and adding the size of a complete brick; At the same time, the grasping device is controlled to turn and adjust the direction of the bricks grasped by the grasping device, grasp a complete brick, make the length of the grasped complete brick perpendicular to the length direction of the bricks in the first area, and then place the complete brick in the second placement area.

[0012] In some specific embodiments, if the first straight-line distance is less than the length of a complete brick and greater than the width of a complete brick, the first placement area is obtained by adding the brick size corresponding to the first straight-line distance to the current masonry starting point as a reference; The grabbing device is controlled to grab a brick corresponding to the size of the placement area, the center of the brick is made to coincide with the center of the first placement area, and the brick is placed in the first placement area.

[0013] In some specific ways, when building the second area, the way to refresh the starting point of the building is: If the masonry position at the intersection of the first area and the second area is the first placement area, the first end point plus the width of a full brick is used as the masonry starting point for starting masonry in the second area; If the masonry position at the intersection of the first area and the second area is the second placement area, the first end point plus the length of a complete brick is used as the masonry starting point for starting masonry in the second area.

[0014] In a second aspect, the present application provides a computer-readable storage medium, comprising: One or more processors; a storage unit for storing one or more programs, which, when executed by the one or more processors, enable the one or more processors to implement an automatic brick wall building method as described in the first aspect.

[0015] The present invention has the beneficial effects: In order to make the wall surface flat after masonry, it is necessary to ensure the flatness of the masonry ground. Therefore, when laying bricks for the first layer, check whether the ground is flat before placing bricks each time. Bricks will be placed only when the ground is flat. During the placement process, the remaining length needs to be calculated in real time to better select the size of bricks to be placed. For right-angled walls, the arrangement of bricks at the right angles of the right-angled walls is determined in real time based on the remaining length, so that a more compact and reasonable brick arrangement plan can be obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flow chart of an automatic brick wall construction method provided by an embodiment of the present invention; Figure 2 A schematic diagram of masonry when building a wall provided by an embodiment of the present invention; Figure 3 A schematic diagram of a first placement area at a right-angle intersection when building a right-angle wall provided by an embodiment of the present invention; Figure 4 A schematic diagram of a second placement area at a right-angle intersection when building a right-angle wall provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. 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.

[0018] The relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

[0019] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0020] Additionally, descriptions of well-known structures, functions, and configurations may be omitted for clarity and conciseness.One of ordinary skill in the art will recognize that various changes and modifications may be made to the examples described herein without departing from the spirit and scope of the present disclosure.

[0021] Technologies, methods, and apparatus known to ordinary technicians in the relevant field may not be discussed in detail, but where appropriate, such technologies, methods, and apparatus should be considered part of the authorization specification.

[0022] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0023] Example 1 like Figure 1 As shown, this embodiment provides an automatic brick wall construction method, which specifically includes the following steps: S1. Obtain the starting point and end point of the first layer of masonry in the area to be built, and locate the placement area; Specifically, the masonry start point and end point are the vertices at both ends of the boundary of the area to be built. For example, for building a wall, the two vertices of the first layer of the wall are the masonry start point and end point. In this embodiment, the masonry start point is refreshed as the placement area is updated. When moving to the next placement area, the masonry start point is updated, and the outermost side of the previous placement area close to the next placement area is used as the masonry start point. The end point is fixed, that is, assuming that the masonry is built from left to right, the leftmost side is used as the masonry start point, and the rightmost side is used as the end point. The masonry start point is refreshed after each placement area is placed.

[0024] S2, controlling the camera to move to the top of the placement area to take pictures, and obtaining an image to be recognized; The specific process of step S2 is: S21, taking the starting point of masonry as a reference and adding the size of the bricks to be placed, to obtain a placement area; The placement area is located as follows: Taking the starting point of masonry as the reference point, calculate the first straight-line distance from the starting point of masonry to the end point; Determine whether the first straight-line distance is greater than the length of a complete brick. If so, add the size of a complete brick to the starting point of the masonry to obtain the placement area; If not, the placement area is obtained by taking the starting point of masonry as the reference and adding the brick size corresponding to the first straight-line distance.

[0025] S22, calculating the center point of the placement area as the placement position positioning point; S23, control the camera device to move to just above the placement position positioning point so that the shooting center of the camera device coincides with the placement position positioning point, and adjust the shooting range of the camera device so that the shooting range of the camera device can cover the placement area for shooting to obtain the image to be recognized.

[0026] S3, input the image to be identified into the ground flatness recognition model to determine whether the ground of the placement area is flat, if it is flat, execute step S4, if it is not flat, control the finishing equipment to level the ground of the placement position; S4, controlling the grabbing device to grab the bricks matching the placement area and place them in the placement area; Specifically, the specific process of step S4 is: When the size of the placement area can accommodate a whole brick, the grabbing device is controlled to grab the whole brick, and the center of the brick is aligned with the center of the placement area, and the whole brick is placed in the placement area; When the size of the placement area is smaller than the size of a whole brick, the grabbing device is controlled to grab the brick corresponding to the size of the placement area, the center of the brick is aligned with the center of the placement area, and the brick is placed in the placement area.

[0027] S5, control the camera device to move in sequence along the laying direction to the top of the next placement area, refresh the laying starting point, and repeat steps S2-S4 until the laying of the first layer of bricks is completed.

[0028] like Figure 2 As shown, the camera device can be installed at the center of the gripping device so that the center of the camera device, the center of the bricks grabbed by the gripping device and the center of the placement area are in a straight line; for the construction of a wall (assuming the wall length is L), the direction of the wall length is the X-axis, and the direction perpendicular to the scene length is the Y-axis. During the construction, the starting point of the construction (with the vertex of the wall as the starting point) and the end point coordinates are initialized in the gripping device, and then the starting point of the construction area is located to find the placement area of ​​the starting brick, that is, the length L1 from the starting point of the construction to the first complete brick is used as the length of the placement area, and the width S of the brick is used as the width of the placement area. The center point of the placement area is found (0.5L1, 0.5S), and the camera device is controlled to move to the placement area At the center point of the image processing unit, adjust the height and position of the camera device so that the camera device can capture the entire ground in the placement area when it is located directly above the placement area; then pre-process the captured image and input it into the ground flatness recognition model to identify whether there are bulges or pits on the ground in the placement area. If there are pits, the correction device (such as mortaring equipment) can be controlled to obtain cement mortar to fill the pits. Then the grasping device grasps a complete brick and identifies whether the direction of the brick is the same as the direction of the placement area. For example, the length of the brick needs to be placed along the masonry direction for the horizontal wall. The grasped bricks can also be defect-identified to determine whether the bricks have defects or the size is correct, and then the bricks that meet the standards are placed in the placement area.

[0029] Next, refresh the masonry starting point, add the length of a complete brick L1 to the masonry starting point as the next masonry starting point, calculate the first straight-line distance L2 (remaining masonry length) from the masonry starting point to the end point, if the distance is greater than the length of a complete brick L2>L1, then the placement area is the size of the next masonry starting point plus a complete brick, that is, the next masonry starting point plus the length of a complete brick is used as the length of the next placement area, and the width of the brick is used as the width of the next placement area, then control the gripping device to move a distance of a complete brick length along the masonry direction, that is, move to the top of the next placement area for shooting; When the masonry is close to the end position, the remaining length L2 from the starting point of the masonry to the end point may be less than the length of a complete brick. At this time, the refreshed starting point of the masonry plus the remaining length is used as the length of the final placement area, and the width of the brick is used as the width of the final placement area. Then, the grabbing device is controlled to move along the masonry direction to the center of the final placement area, and a picture is taken directly above the final placement area to complete the masonry of the first layer of the wall.

[0030] like Figure 3 As shown, when a right-angle wall is being built, the building area includes a first area X1 and a second area X2, and the end point includes a first end point and a second end point. For better explanation, in this embodiment, Figure 3 As shown, the first area is a horizontal wall surface, the second area is a vertical wall surface, the first end point is a right angle intersection, and the second end point is an end point of the second area. Accordingly, during masonry, the bricks can be divided into horizontal bricks placed horizontally in the first area and vertical bricks placed vertically in the second area according to the brick placement direction; When the masonry direction is from the first area to the second area, the masonry of the horizontal bricks in the first area is carried out according to the steps S1-S5, which is the same as the masonry process of the first wall for the masonry of the first layer of bricks in the first area. The difference is that when the masonry is close to the end position, that is, when it reaches the intersection of the first area and the second area, the first straight line distance L2 from the current masonry starting point to the first end point is calculated with the current masonry starting point as the reference point; Determine whether the first straight-line distance L2 is less than the length L1 of a complete brick. If the first straight-line distance is less than the length L2 of a complete brick, L2<L1; then continue to determine whether the first straight-line distance L2 is equal to the width S of a complete brick; like Figure 3 As shown, if the first straight line distance is less than the length of a complete brick and greater than the width of a complete brick L2>S, the intersection of the first area and the second area is used as the masonry area of ​​the first area, and the current masonry starting point (L-L2,0) is used as the reference plus the brick size corresponding to the first straight line distance L2 to obtain the first placement area, and the center coordinates of the first placement area are (0.5(L-L2), 0.5S); The grasping device is controlled to grasp a horizontal brick corresponding to the size of the first placement area, the center of the brick is made to coincide with the center of the first placement area, and the horizontal brick is placed in the first placement area.

[0031] like Figure 4As shown, if the first straight-line distance is equal to the width L2=S of a complete brick, then the intersection of the first area and the second area is used as the masonry area of ​​the second area. At this time, the first end point is used as the masonry starting point plus the size of a complete brick to obtain the second placement area. The length of the second placement area is the length of the vertical brick, and the width is the width of the vertical brick, that is, the first straight-line distance; the axes of the first placement area and the second placement area are perpendicular; At the same time, the grasping device is controlled to turn and adjust the direction of the bricks grasped by the grasping device, grasp a complete brick, make the length of the grasped complete brick perpendicular to the length direction of the bricks in the first area, and then place the complete brick in the second placement area.

[0032] Since there are two ways to place bricks at the right-angle intersection of the first area and the second area, one is to fill the first area with horizontal bricks, and the other is to fill the intersection with vertical bricks. Based on these two ways, when laying the second area, the way to locate the starting point of the second area is as follows: If the masonry position at the intersection of the first area and the second area is the first placement area, the first end point plus the width of a full brick is used as the masonry starting point y1 (L, S) for starting masonry in the second area; If the masonry position at the intersection of the first area and the second area is the second placement area, the length of the first end point plus a complete brick is used as the masonry starting point y2 (L, L1) for starting masonry of the second area.

[0033] After refreshing the starting point of the second area in the above manner, the grabbing device is controlled to change direction (ninety degrees), and the first layer of bricks in the second area is laid according to steps S1-S5 (i.e., the method of laying a wall).

[0034] The ground flatness recognition model can be constructed using a deep neural network and a Yolov8n target detection model. The specific method is as follows: 1. Construct a dataset for model training. Take photos and collect images directly above the ground at different light source angles (90°, 45°, and 135°). Collect several ground images and pre-mark each ground image. The marking types include pit marks, convex marks, pit area marks, and convex area marks to obtain the original training dataset. 2. Data preprocessing: normalize the marked images in the original training data set, including grayscale, contrast, and image size normalization. Then, enhance the normalized images. Specifically, enhance the visibility of the marked area of ​​the normalized images, use median filtering to denoise, adjust the image size through linear interpolation, separate and fuse the marked area and background area of ​​the image, and obtain image data enhanced by heterogeneous fusion. The specific process is as follows: 2.1. Image reduction, specifically, using a linear interpolation algorithm to reduce the normalized image to obtain reduced metal surface image data; 2.2. Image filtering, specifically using a median filtering algorithm to perform blurring on the image in the reduced metal surface image data, eliminate the marked area and obtain reduced approximate background image data; 2.3. Generating the original background, specifically, again using the linear interpolation algorithm to enlarge the reduced approximate background image data to obtain the original background image data; 2.4. Background separation, specifically, pixel subtraction between the normalized image and the corresponding original background image data to obtain separated background grayscale data; 2.5. Image fusion enhancement: specifically, calculating the difference between the separated background grayscale data of the images in the original training data set under different light source angles, and performing grayscale fusion to obtain image data enhanced by heterogeneous fusion.

[0035] 3. Target area recognition: an improved target detection model combined with BP classifier is used to detect and identify the marked area to obtain recognition data; 3.1. Feature extraction model pre-training, specifically receiving the above-mentioned heterogeneous fusion enhanced image data as the original data input sample, and using the intervention trained ResNet50 model to extract image features to obtain image feature mapping data, including image edge, texture and shape feature information; 3.2. Construct an improved target detection layer, specifically using the Yolov8n model as the basic target detection subnet, and using the method of combining multi-scale feature fusion and residual module to improve and optimize the target detection layer; 3.3. Construct the BP neural subnet layer, flatten the feature map, construct the BP basic structure and construct the BP classifier, and then construct the BP neural subnet layer to classify and identify the marked area type; 3.4. Model integration training, specifically, through feature extraction model pre-training, constructing an improved target detection layer and constructing a BP neural subnet layer, performing subnet integration, and performing model training based on the image data enhanced by heterogeneous fusion to obtain a ground flatness recognition model; 3.5. Ground flatness recognition, specifically, using the ground flatness recognition model to detect and recognize ground flatness based on the original training data set to obtain ground recognition data.

[0036] Example 2 This embodiment provides a computer-readable storage medium, including: One or more processors; a storage unit for storing one or more programs, which, when executed by the one or more processors, enable the one or more processors to implement an automatic brick wall building method as described in the first aspect.

[0037] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0038] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks 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 processes in the flowchart and / or block diagram. 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.

[0039] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate 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 A function specified in one or more boxes.

[0040] These computer program instructions can also be loaded onto a computer or other programmable data processing device, and a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0041] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. According to the technical essence of the present invention, within the spirit and principles of the present invention, any simple modification, equivalent replacement and improvement made to the above embodiment still falls within the protection scope of the technical solution of the present invention.

Claims

1. A method for automatically building a brick wall, characterized in that: The specific steps include: S1. Obtain the starting point and end point of the first layer of masonry in the area to be built, and locate the placement area; S2, controlling the camera to move to the top of the placement area to take pictures, and obtaining an image to be recognized; S3, input the image to be identified into the ground flatness recognition model to determine whether the ground of the placement area is flat, if it is flat, execute step S4, if it is not flat, control the finishing equipment to level the ground of the placement position; S4, controlling the grabbing device to grab the bricks matching the placement area and place them in the placement area; S5, control the camera device to move in sequence along the laying direction to the top of the next placement area, refresh the laying starting point, and repeat steps S2-S4 until the laying of the first layer of bricks is completed.

2. The automatic brick wall construction method according to claim 1, characterized in that: The specific process of step S2 is: S21, taking the starting point of masonry as a reference and adding the size of the bricks to be placed, to obtain a placement area; S22, calculating the center point of the placement area as the placement position positioning point; S23, control the camera device to move to just above the placement position positioning point so that the shooting center of the camera device coincides with the placement position positioning point, and adjust the shooting range of the camera device so that the shooting range of the camera device can cover the placement area for shooting to obtain the image to be recognized.

3. The automatic brick wall construction method according to claim 2, characterized in that: The specific process of step S21 is: Taking the starting point of masonry as the reference point, calculate the first straight-line distance from the starting point of masonry to the end point; Determine whether the first straight-line distance is greater than the length of a complete brick. If so, add the size of a complete brick to the starting point of masonry to obtain the placement area; If not, the placement area is obtained by taking the starting point of masonry as the reference and adding the brick size corresponding to the first straight-line distance.

4. The automatic brick wall construction method according to claim 3, characterized in that: The specific process of step S4 is: When the size of the placement area can accommodate a whole brick, the grabbing device is controlled to grab the whole brick, and the center of the brick is aligned with the center of the placement area, and the whole brick is placed in the placement area; When the size of the placement area is smaller than the size of a whole brick, the grabbing device is controlled to grab the brick corresponding to the size of the placement area, the center of the brick is aligned with the center of the placement area, and the brick is placed in the placement area.

5. The automatic brick wall construction method according to claim 1, characterized in that: The starting point and end point of masonry are the two ends of the boundary of the area to be built. The starting point of masonry is refreshed as the placement area is updated. When moving to the next placement area, the starting point of masonry is updated, and the outermost side of the previous placement area close to the next placement area is used as the starting point of masonry.

6. The automatic brick wall construction method according to claim 1, characterized in that: When the masonry area is a right-angle wall, the masonry area includes a first area and a second area, and the end point includes a first end point and a second end point. When the masonry direction is from the first area to the second area, the masonry of the first layer of bricks in the first area is completed according to steps S1-S5 for the first area; When the first layer of bricks in the first area is completed, the camera device is controlled to change direction and refresh the starting point of the laying, and then the first layer of bricks in the second area is completed according to the steps S1-S5.

7. The automatic brick wall construction method according to claim 6, characterized in that: The masonry method at the intersection of the first area and the second area is: When the masonry reaches the first area close to the first end point, the first straight-line distance from the current masonry starting point to the first end point is calculated with the current masonry starting point as the reference point; Determine whether the first straight-line distance is less than the length of a complete brick. If the first straight-line distance is less than the length of a complete brick, then continue to determine whether the first straight-line distance is equal to the width of a complete brick. If the first straight-line distance is equal to the width of a complete brick, then the second placement area is obtained by taking the first end point as the starting point of the masonry and adding the size of a complete brick; At the same time, the grasping device is controlled to turn and adjust the direction of the bricks grasped by the grasping device, grasp a complete brick, make the length of the grasped complete brick perpendicular to the length direction of the bricks in the first area, and then place the complete brick in the second placement area.

8. The automatic brick wall construction method according to claim 7, characterized in that: If the first straight-line distance is less than the length of a complete brick and greater than the width of a complete brick, the first placement area is obtained by adding the brick size corresponding to the first straight-line distance to the current masonry starting point as a reference; The grabbing device is controlled to grab a brick corresponding to the size of the first placement area, the center of the brick is aligned with the center of the placement area, and the brick is placed in the first placement area.

9. The automatic brick wall construction method according to claim 7, characterized in that: When building the second area, the method to refresh the starting point of building is as follows: If the masonry position at the intersection of the first area and the second area is the first placement area, the first end point plus the width of a full brick is used as the masonry starting point for starting masonry in the second area; If the masonry position at the intersection of the first area and the second area is the second placement area, the first end point plus the length of a complete brick is used as the masonry starting point for starting masonry in the second area.

10. A computer-readable storage medium, characterized in that: include: one or more processors; A storage unit is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors can implement the automatic brick wall building method as described in claim 1.

Images