Artificial intelligence modeling method of wall building robot

Abstract

The invention relates to the technical field of constructional engineering, in particular to an artificial intelligence modeling method of a wall building robot. The robot is applied to constructional engineering to replace'complicated, dangerous, dirty and heavy 'manual operation, and is the general trend of scientific and technological development. The robot technology and artificial intelligence are combined, so that the wall building robot is intelligentized, and the method is a final target of the wall building robot technology. Artificial intelligence learning and training cannot be separated from a big data model. Based on the characteristics of wall engineering, the artificial intelligence big data model of the wall building robot comprises a physical model and a mathematical model.

Description

Technical Field

[0001] The present invention relates to the field of construction engineering technology, and in particular to an artificial intelligence modeling method for a wall-building robot. Background Art

[0002] Using robots in construction projects to replace "complex, dangerous, dirty and heavy" manual operations is a major trend in scientific and technological development.

[0003] The ultimate goal of bricklaying robot technology is to combine robotics and artificial intelligence to make bricklaying robots intelligent.

[0004] Artificial intelligence learning and training are inseparable from big data models.

[0005] Based on the characteristics of wall engineering, the artificial intelligence of the wall-building robot optimizes the robot learning model (MachineLearning).

[0006] It is necessary to invent an artificial intelligence modeling method for training bricklaying robots. Summary of the invention

[0007] The technical problem to be solved by the present invention is to invent an artificial intelligence modeling method for learning and training a wall-building robot.

[0008] To solve the above problems, the technical solution of the present invention is: the artificial intelligence big data model of the bricklaying robot includes a physical model and a mathematical model.

[0009] The physical model consists of the relative coordinate system of the construction site and measurement control piles, buildings, personnel and equipment passage plans of the construction organization plan, wall-building robots, wall engineering masonry construction plans, etc.

[0010] The building site relative coordinate system is an on-site space coordinate system established according to the layout of the buildings.

[0011] The survey control piles are based on the relative coordinate system of the construction site and consist of three control points marked with spatial positions, with line of sight between every two control points.

[0012] The building includes the 3D design of the building frame structure, the 3D design of the wall structure and the 3D design of the wall materials.

[0013] The personnel and equipment access plan is a traffic plan formulated by the construction unit for on-site personnel and equipment to enter and exit the construction site according to the project construction organization plan. The personnel and equipment access plan is a three-dimensional design.

[0014] The wall-building robot includes a control system, a vision system, a walking system, a brick supply system, a masonry system, a mortar supply system and a grouting system, etc.

[0015] The masonry construction plan for wall engineering includes masonry construction technology and access plan for personnel and equipment on the construction site.

[0016] Furthermore, a building database, a wall database, a wall material database, a personnel and equipment channel database, a construction site relative coordinate system database, a measurement control pile database and a wall engineering masonry construction plan database are established.

[0017] A physical model of the wall engineering is constructed based on the building database, wall database, wall material database, personnel and equipment channel database, construction site relative coordinate system database, measurement control pile database and wall engineering masonry construction plan database.

[0018] The mathematical model includes the control system and vision system calibration, the vision system and measurement control pile calibration, the vision system and building calibration, the vision system and masonry robot calibration, the vision system and masonry robot brick supply system calibration, the vision system and masonry robot masonry system calibration, the vision system and masonry robot mortar supply system calibration, and the vision system and masonry robot grouting system calibration.

[0019] Furthermore, the mathematical model determines the correspondence between the control system and the visual system by calibrating the measurement values ​​of the control system and the visual system, thereby ensuring accurate measurement and control.

[0020] The mathematical model calibrates the visual system's measurement values ​​of the measurement control piles, determines the spatial position of the measurement control piles relative to the coordinate system of the construction site, and ensures accurate measurement and control.

[0021] The mathematical model calibrates the visual system and the building to determine the exact position of the building (including the wall structure) relative to the coordinate system of the construction site.

[0022] The mathematical model determines the precise position of the masonry robot relative to the coordinate system on the construction site by calibrating the vision system and the masonry robot.

[0023] The mathematical model calibrates the visual system and the brick supply system of the masonry robot to determine the precise position of the brick supply system of the masonry robot relative to the coordinate system of the construction site.

[0024] The mathematical model calibrates the visual system and the masonry robot's masonry system to determine the precise position of the masonry robot's masonry system relative to the coordinate system of the construction site.

[0025] The mathematical model calibrates the visual system and the mortar supply system of the masonry robot to determine the precise position of the mortar supply system of the masonry robot relative to the coordinate system of the construction site.

[0026] The mathematical model calibrates the visual system and the grouting system of the masonry robot to determine the precise position of the grouting system of the masonry robot relative to the coordinate system of the construction site.

[0027] Furthermore, according to the physical model and the mathematical model, RTT or other algorithms are used to select each node from the starting point to the target point of the wall-building robot to determine the optimal walking path of the wall-building robot.

[0028] Based on the physical model and mathematical model, the wall construction plan of the wall-building robot is selected and determined.

[0029] Based on the physical model and mathematical model, the motion control of the masonry robot's masonry system is selected and determined.

[0030] According to the physical model and mathematical model, the motion control of the grouting system of the wall-building robot is selected and determined.

[0031] Furthermore, the artificial intelligence modeling method for a wall-building robot of the present invention is also applicable to the artificial intelligence modeling of other construction robots.

[0032] In summary, the present invention has the following beneficial effects:

[0033] 1. Technical evaluation of the present invention

[0034] 1. The technical solution of the present invention is reliable and feasible.

[0035] II. Social Benefit Assessment of the Invention

[0036] 1. By adopting the present invention, the wall-building robot becomes intelligent and can completely replace the "complicated, dangerous, dirty and heavy" manual operations, greatly improving the construction efficiency of the wall-building robot, with significant social and economic benefits.

[0037] 2. The bricklaying robot is just one member of the construction robot family. The artificial intelligence of the bricklaying robot enables the entire construction project to fully realize truly intelligent construction and smart buildings, with significant social benefits. DETAILED DESCRIPTION

[0038] Example 1

[0039] Based on the technical features and processes, Example 1 of the present invention is implemented in the following manner:

[0040] S1: Collect a large number of 3D design drawings of building frame structures of different types and types to establish a building database;

[0041] S2: Collect a large number of 3D design drawings of building wall structures of different types and categories to establish a wall database;

[0042] S3: Collect a large number of 3D design drawings of different types of wall materials and establish a wall material database;

[0043] S4: Collect a large number of three-dimensional design drawings of personnel and equipment passage schemes of different types and types, and establish a personnel and equipment passage database;

[0044] S5: Collect a large number of different types of three-dimensional design drawings of relative coordinate systems of building sites and establish a database of relative coordinate systems of building sites;

[0045] S6: Collect a large number of three-dimensional design drawings of different types of survey control piles and establish a survey control pile database;

[0046] S7: Collect a large number of different types of masonry robots and establish a masonry robot database;

[0047] S8: Collect a large number of wall engineering masonry construction plans of different types and build a wall engineering masonry construction plan database;

[0048] S9: Build a physical model of the wall engineering according to the building database, wall database, wall material database, personnel and equipment channel database, building site relative coordinate system database, measurement control pile database, wall-building robot database and wall engineering masonry construction plan database;

[0049] S10: Establish calibration calculation formulas for the control system and vision system of the wall-building robot;

[0050] S11: Establish the calibration calculation formula for the visual system and the wall-building robot position;

[0051] S12: Establish calibration calculation formulas for the visual system and measurement control piles;

[0052] S13: Establishing a calibration calculation formula for measuring the spatial position of the control pile and the building site relative to the coordinate system of the building site;

[0053] S14: Establishing a calibration calculation formula for the spatial position of the construction site and the building relative to the coordinate system of the construction site;

[0054] S15: Establish a calibration calculation formula for the spatial position of buildings and wall structures relative to the coordinate system of the construction site;

[0055] S16: Establishing a calibration calculation formula for the relative spatial position of the wall structure and the wall-building robot in the construction site relative to the coordinate system;

[0056] S17: Establish a calibration calculation formula for the relative spatial position of the wall-building robot and the brick supply system in the construction site coordinate system;

[0057] S18: Establish a calibration calculation formula for the relative spatial position of the wall-building robot and the masonry system in the construction site relative to the coordinate system;

[0058] S19: Establish a calibration calculation formula for the relative spatial position of the wall-building robot and the mortar supply system in the construction site relative to the coordinate system;

[0059] S20: Establishing a calibration calculation formula for the relative spatial position of the wall-building robot and the grouting system in the construction site relative to the coordinate system;

[0060] S21: According to the calibration calculation formulas of the control system and the visual system of the masonry robot, the calibration calculation formulas of the visual system and the position of the masonry robot, the calibration calculation formulas of the visual system and the measuring control piles, the calibration calculation formulas of the measuring control piles and the spatial position of the construction site relative to the coordinate system of the construction site, the calibration calculation formulas of the spatial position of the construction site and the building relative to the coordinate system of the construction site, the calibration calculation formulas of the spatial position of the building and the wall structure relative to the coordinate system of the construction site, the calibration calculation formulas of the wall structure and the masonry robot relative to the coordinate system of the construction site, the calibration calculation formulas of the spatial position of the masonry robot and the brick supply system relative to the coordinate system of the construction site, the calibration calculation formulas of the spatial position of the masonry robot and the masonry system relative to the coordinate system of the construction site, the calibration calculation formulas of the spatial position of the masonry robot and the mortar supply system relative to the coordinate system of the construction site, and the calibration calculation formulas of the spatial position of the masonry robot and the grouting system relative to the coordinate system of the construction site, a mathematical model of the wall construction of the masonry robot is established.

[0061] The above describes the basic principles and main features of the present invention. The description in the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed for protection.

Claims

1. An artificial intelligence modeling method for a wall-building robot, characterized in that: The artificial intelligence big data model of the bricklaying robot includes physical model and mathematical model; The physical model includes the relative coordinate system of the construction site and the measurement control piles, buildings, personnel and equipment access plan of the construction organization plan, wall-building robots, and wall engineering masonry construction plan; The building site relative coordinate system is the on-site spatial coordinate system established based on the layout of the building; The survey control piles are based on the relative coordinate system of the construction site and consist of three control points with spatial positions marked, with line of sight between every two control points; Buildings include 3D design of building frame structure, 3D design of wall structure and 3D design of wall materials; The personnel and equipment access plan is a traffic plan formulated by the construction unit for on-site personnel and equipment to enter and exit the construction site according to the project construction organization plan. The personnel and equipment access plan is a three-dimensional design; The wall-building robot includes a control system, a visual system, a walking system, a brick supply system, a masonry system, a mortar supply system and a grouting system; The masonry construction plan for the wall project includes the masonry construction process and the personnel and equipment access plan for the construction site; The physical model includes the building database, wall database, wall material database, personnel and equipment channel database, building site relative coordinate system database, measurement control pile database and wall engineering masonry construction plan database; The physical model of the wall engineering is constructed based on the building database, wall database, wall material database, personnel and equipment channel database, building site relative coordinate system database, measurement control pile database, and wall engineering masonry construction plan database; The mathematical model includes the control system and vision system calibration, the vision system and measurement control pile calibration, the vision system and building calibration, the vision system and masonry robot calibration, the vision system and masonry robot brick supply system calibration, the vision system and masonry robot masonry system calibration, the vision system and masonry robot mortar supply system calibration, and the vision system and masonry robot grouting system calibration; The mathematical model determines the corresponding relationship between the control system and the visual system by calibrating the measurement values ​​of the control system and the visual system; The mathematical model determines the spatial position of the measuring control pile relative to the coordinate system of the construction site by calibrating the measurement value of the measuring control pile by the visual system; The mathematical model determines the spatial position of the building and wall structure relative to the coordinate system of the construction site by calibrating the visual system and the building; The mathematical model determines the spatial position of the wall-building robot relative to the coordinate system of the construction site by calibrating the visual system and the wall-building robot; The mathematical model determines the spatial position of the brick supply system of the wall-building robot relative to the coordinate system of the construction site by calibrating the visual system and the brick supply system of the wall-building robot. The mathematical model determines the spatial position of the robot masonry system relative to the coordinate system of the construction site by calibrating the visual system and the robot masonry system. The mathematical model determines the spatial position of the masonry robot's mortar supply system relative to the coordinate system of the construction site by calibrating the visual system and the masonry robot's mortar supply system. The mathematical model determines the spatial position of the masonry robot grouting system relative to the coordinate system of the construction site by calibrating the visual system and the masonry robot grouting system.

2. The artificial intelligence modeling method for a wall-building robot according to claim 1, characterized in that: The process of building a wall-building robot artificial intelligence big data model is as follows: S1: Collect a large number of 3D design drawings of building frame structures of different types and types to establish a building database; S2: Collect a large number of 3D design drawings of building wall structures of different types and categories to establish a wall database; S3: Collect a large number of 3D design drawings of different types of wall materials and establish a wall material database; S4: Collect a large number of three-dimensional design drawings of personnel and equipment passage schemes of different types and types, and establish a personnel and equipment passage database; S5: Collect a large number of different types of three-dimensional design drawings of relative coordinate systems of building sites and establish a database of relative coordinate systems of building sites; S6: Collect a large number of three-dimensional design drawings of different types of survey control piles and establish a survey control pile database; S7: Collect a large number of different types of masonry robots and establish a masonry robot database; S8: Collect a large number of wall construction schemes of different types and categories, and establish a database of wall construction schemes; S9: Build a physical model of the wall engineering according to the building database, wall database, wall material database, personnel and equipment channel database, building site relative coordinate system database, measurement control pile database, wall-building robot database and wall engineering masonry construction plan database; S10: Establish calibration calculation formulas for the control system and vision system of the wall-building robot; S11: Establish the calibration calculation formula for the visual system and the wall-building robot position; S12: Establish calibration calculation formulas for the visual system and measurement control piles; S13: Establishing a calibration calculation formula for the spatial position of the measurement control pile and the construction site relative to the coordinate system of the construction site; S14: Establishing a calibration calculation formula for the spatial position of the construction site and the building relative to the coordinate system of the construction site; S15: Establish a calibration calculation formula for the spatial position of buildings and wall structures relative to the coordinate system of the construction site; S16: Establishing a calibration calculation formula for the relative spatial position of the wall structure and the wall-building robot in the construction site relative to the coordinate system; S17: Establish a calibration calculation formula for the relative spatial position of the wall-building robot and the brick supply system in the construction site coordinate system; S18: Establish a calibration calculation formula for the relative spatial position of the wall-building robot and the masonry system in the construction site relative to the coordinate system; S19: Establish a calibration calculation formula for the relative spatial position of the wall-building robot and the mortar supply system in the construction site relative to the coordinate system; S20: Establishing a calibration calculation formula for the relative spatial position of the wall-building robot and the grouting system in the construction site relative to the coordinate system; S21: According to the calibration calculation formulas of the control system and the visual system of the masonry robot, the calibration calculation formulas of the visual system and the position of the masonry robot, the calibration calculation formulas of the visual system and the measuring control piles, the calibration calculation formulas of the measuring control piles and the spatial position of the construction site relative to the coordinate system of the construction site, the calibration calculation formulas of the spatial position of the construction site and the building relative to the coordinate system of the construction site, the calibration calculation formulas of the spatial position of the building and the wall structure relative to the coordinate system of the construction site, the calibration calculation formulas of the wall structure and the masonry robot relative to the coordinate system of the construction site, the calibration calculation formulas of the spatial position of the masonry robot and the brick supply system relative to the coordinate system of the construction site, the calibration calculation formulas of the spatial position of the masonry robot and the masonry system relative to the coordinate system of the construction site, the calibration calculation formulas of the spatial position of the masonry robot and the mortar supply system relative to the coordinate system of the construction site, and the calibration calculation formulas of the spatial position of the masonry robot and the grouting system relative to the coordinate system of the construction site, a mathematical model of the wall construction of the masonry robot is established.

3. The artificial intelligence modeling method for a wall-building robot according to claim 1 or 2, characterized in that: The present invention is applicable to artificial intelligence modeling of other construction robots.