Automatic brick positioning and slurry smearing equipment, masonry robot system comprising same and masonry method

Abstract

The invention discloses automatic brick positioning and slurry smearing equipment, a masonry robot system and a masonry method. The brick automatic positioning and slurry smearing equipment comprises at least three laser displacement sensors which are mounted around a slurry nozzle at the tail end of the mechanical arm and are used for measuring distance information from a smearing surface to the laser displacement sensors; the information acquisition unit is used for receiving real-time data of the positions and poses of the laser displacement sensor and the mechanical arm; and the brick surface positioning unit is used for calculating the accurate position and posture of the smearing surface under the base coordinate system of the mechanical arm according to the laser point position information acquired by the laser displacement sensor and the posture data of the mechanical arm. According to the real-time position and posture of the smearing face under the base coordinate system of the mechanical arm, the mechanical arm self-adaptive control algorithm is adopted to adjust the smearing movement track of the mechanical arm and the position of the slurry nozzle, so that the ideal distance and angle are kept between the slurry nozzle and the smearing face; the problems that during automatic smearing, the spraying thickness is uneven, and slurry is wasted due to the fact that the smearing face is irregular are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of masonry robots, and more specifically, to an automatic brick positioning and mud smearing device, a masonry robot system including the same, and a masonry method. Background Art

[0002] In the field of construction, mud application is one of the important processes of wall construction and decoration, which traditionally relies mainly on manual operation. In particular, the coke oven masonry process is complicated, the labor efficiency is low, the refractory brick masonry workload is large and the precision requirements are high. The robot intelligent masonry of large coke oven bodies can not only save a lot of manpower, but also save energy and protect the environment during the operation process, and can also greatly shorten the construction period. With the improvement of construction efficiency and quality requirements, the automatic application technology of bricks has gradually become a mainstream demand. In this process, the use of a robotic arm for mud application can significantly improve efficiency and reduce human errors. However, due to the complexity of the construction site, especially the diversity and irregularity of the application surface, the current automatic application system cannot meet such high requirements.

[0003] Traditional robot control systems usually rely on pre-set paths and fixed spraying parameters. However, due to the uncertainty of the distance between the coating surface and the slurry nozzle at the construction site, as well as the irregular inclination of the brick surface, it is easy to cause uneven coating thickness and poor coating quality when facing different brick surfaces. In addition, in a typical automated coating system, the coating operation not only involves the movement of the robot arm, but also requires the precise positioning of the bricks.

[0004] In summary, developing an automatic brick positioning and mud application device and method whose application quality is not limited by construction conditions is a technical problem that needs to be solved urgently. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention proposes an automatic brick positioning and mud coating equipment, a masonry robot system and a masonry method comprising the same, so as to solve the problems of uneven spraying thickness, mud waste, low construction efficiency and poor construction quality caused by irregular coating surface in the existing automated mud coating process.

[0006] To achieve the above-mentioned object, in a first aspect, the present invention provides an automatic brick positioning and mud coating device, comprising a mechanical arm and a control unit thereof, for supporting and moving a mud nozzle so that the mud nozzle can flexibly move in a three-dimensional space and perform a coating movement; and further comprising:

[0007] At least three laser displacement sensors are mounted around the slurry nozzle at the end of the mechanical arm through a laser displacement sensor mounting support frame to measure the distance information from the smearing surface of the brick to the laser displacement sensors;

[0008] An information acquisition unit, configured to receive real-time data of the laser displacement sensor and the pose of the robotic arm, and calculate the three-dimensional position information of the laser point in the base coordinate system of the robotic arm;

[0009] A brick surface positioning unit, which calculates the accurate position and pose of the plastering surface in the base coordinate system of the robotic arm according to the laser point position information obtained by the laser displacement sensor and the real-time data of the pose of the robotic arm;

[0010] When plastering the plastering surface, according to the real-time position and pose of the plastering surface in the base coordinate system of the robotic arm provided by the brick surface positioning unit, an adaptive control algorithm of the robotic arm is used to adjust the movement trajectory of the robotic arm during plastering and the position of the slurry nozzle, so that a preset ideal distance and angle are maintained between the slurry nozzle and the plastering surface, and uniform slurry plastering is performed.

[0011] By adopting the above technical solution, the three-dimensional spatial position of the brick surface is detected by multiple laser displacement sensors, and the measured data is transmitted to the robotic arm control system. The robotic arm control system adjusts the movement trajectory of the robotic arm and the position of the nozzle in real time according to this position information, ensuring that the best distance and angle are maintained between the nozzle and the brick surface, thereby realizing uniform plastering of the slurry.

[0012] Furthermore, the position of the laser displacement sensor on the laser displacement sensor installation support frame is adjustable to ensure that the laser beam of the laser displacement sensor can irradiate the plastering area of the brick, so as to adapt to the shapes of different plastering surfaces and operation requirements. The adjustment function of the support frame enables the device to optimize the adaptability of the brick surface positioning system, making the device more flexible in actual operation and capable of coping with various complex construction environments.

[0013] Furthermore, the laser displacement sensor is installed on the flange of the end effector of the robotic arm through the laser displacement sensor installation support frame, and stable and unobstructed support can be achieved.

[0014] Furthermore, the algorithm for the brick surface positioning unit to calculate the accurate position and pose of the plastering surface in the base coordinate system of the robotic arm according to the three-dimensional position information of the laser point in the base coordinate system of the robotic arm is as follows:

[0015] S11. Obtain the three-dimensional coordinates of several laser points in the base coordinate system of the robotic arm , where n is the number of the laser point, and calculate the rotation angles of the sensor coordinate system around the axis, , , axis, and , , and the distances from each laser displacement sensor to the points on the coating surface ;

[0016] S12. By rotating around , , axis rotation matrix , , calculate the total rotation matrix of the tool coordinate system:

[0017]

[0018] Where:

[0019] , , ;

[0020] S13. Actual measurement point position calculation:

[0021] Convert the laser direction to the direction vector in the base coordinate system through the rotation matrix :

[0022]

[0023] According to the measured distance , calculate the coordinates of the actual measurement points on the plane:

[0024]

[0025] S14. Determine the plane containing all actual measurement points using the coordinates of each actual measurement point:

[0026] First, calculate the vectors between other measurement points and the reference measurement point, and then obtain the plane normal vector by calculating the cross product of the vectors;

[0027] According to the normal vector and the coordinates of the reference measurement point, the plane equation is obtained as:

[0028] , where d is the distance from the coating plane to the origin of the robotic arm base coordinate system.

[0029] Using the above geometric algorithm can calculate the accurate position and attitude of the coating surface in the robotic arm base coordinate system at high speed and with high precision.

[0030] In the second aspect, the present invention provides a masonry robot system, including:

[0031] The truss and the gripper unit grasp the bricks from the original position and accurately move them to the working area of the robotic arm for fixation;

[0032] The brick automatic positioning and mud coating equipment as described above.

[0033] The movement and fixation of the bricks are completed by the truss structure and the gripper device. The truss and the gripper work together to pick up the bricks from the original position and move them to a predetermined position, ensuring that the bricks are in a suitable coating position so that the robotic arm can perform accurate mud coating operations.

[0034] Furthermore, the truss includes:

[0035] The truss ground rail provides overall support, enabling the truss to move freely within the working space;

[0036] The truss X-axis and Y-axis are responsible for movement within the horizontal plane to position the gripper on the working plane;

[0037] The truss Z-axis controls the height adjustment in the vertical direction to ensure that the gripper can move up and down to pick up the bricks;

[0038] The truss R-axis provides a rotation function, enabling the gripper to adjust the grasping angle;

[0039] The gripper is installed at the end of the truss R-axis.

[0040] Adopting the above technical solutions, the precise operation of the truss and the gripper ensures the positioning accuracy of the bricks and the stability of the bricks during the coating process. This collaborative work greatly improves the overall precision and efficiency of the coating operation. Through this innovative system design, not only can it handle complex brick surface morphologies, but also maintain high-quality mud coating effects in different construction environments.

[0041] Finally, on the other hand, the present invention provides a masonry method for automatic brick masonry. Using the masonry robot system as described above, it includes the following steps:

[0042] S1. Through the cooperation of each axis of the truss, accurately move the gripper above the bricks and grab the bricks downward; the gripper transports the grabbed bricks to the coating working area of the robotic arm; according to the shape and size of the standard bricks, the robotic arm control unit has predefined an initial spraying trajectory based on the ideal coating surface; determine the installation position and direction of the laser displacement sensor at the end of the robotic arm through calibration, and establish the conversion relationship between the sensor coordinate system and the robotic arm base coordinate system;

[0043] S2. The robotic arm moves to the brick detection position, obtains the real-time data of the laser displacement sensor and the robotic arm pose, and calculates the three-dimensional position information of the laser point in the robotic arm base coordinate system;

[0044] S3. The brick surface positioning unit converts the distance information of each laser measurement point into three-dimensional point coordinates in the base coordinate system of the robotic arm; the converted three-dimensional point coordinate data is stored in the memory of the brick surface positioning unit to form complete plastering surface positioning data.

[0045] S4. Using the three-dimensional position information obtained from the brick surface positioning unit, the robotic arm control unit makes real-time adjustments to the initial spraying trajectory.

[0046] S5. After the trajectory adjustment is completed, the robotic arm moves to the spraying starting position; the robotic arm control unit precisely controls the movement of the robotic arm so that the mud nozzle at its end performs mud plastering according to the adjusted trajectory.

[0047] S6. The gripper transports the bricks plastered with mud to the position to be laid.

[0048] Compared with the prior art, the present invention has the following technical effects:

[0049] (1) The present invention uses multiple laser displacement sensors to accurately obtain the three-dimensional position information of the plastering surface, and combines with the real-time pose data of the robotic arm to quickly calculate the spatial position and attitude of the plastering surface. Through this efficient calculation and feedback mechanism, the present invention can ensure that the ideal distance and angle are always maintained between the nozzle and the plastering surface, thereby achieving a high-precision and uniform plastering effect, greatly improving the construction quality and efficiency. In addition, the number of sensors can be increased or decreased according to different construction requirements to adapt to various application scenarios.

[0050] (2) In the present invention, the laser displacement sensors are installed on adjustable support frames, and users can flexibly adjust the positions of the sensors according to different construction environments and the shapes of the plastering surfaces, greatly improving the system adaptability, ensuring accurate measurement, and further optimizing the construction effect;

[0051] (3) The present invention determines the positions and attitudes of the laser sensors relative to the robotic arm flange through initial calibration, eliminating the need for frequent adjustment and recalibration, reducing the time cost of system setup and debugging. At the same time, the laser displacement sensors and the robotic arm control system adopt a modular design, which is convenient to be integrated onto robotic arms of different brands and models. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, the present invention and its features and advantages will become more obvious.

[0053] Figure 1 is a schematic three-dimensional structure diagram of the working condition of the automatic brick positioning and mud plastering equipment provided by an embodiment of the present invention;

[0054] Figure 2It is a three-dimensional view of a six-axis robotic arm and an end effector provided by an embodiment of the present invention;

[0055] Figure 3 It is a three-dimensional structural view of a laser module provided by an embodiment of the present invention;

[0056] Figure 4 It is a schematic diagram of laser positioning on a brick surface provided by an embodiment of the present invention;

[0057] Figure 5 It is a three-dimensional view of an automatic masonry robot provided by an embodiment of the present invention;

[0058] Figure 6 It is a three-dimensional view of a truss and a gripper unit provided by an embodiment of the present invention;

[0059] Figure 7 It is a flowchart of an automated masonry method provided by an embodiment of the present invention;

[0060] In the figure, 1 is a truss; 11 is a truss ground rail; 12 is a truss X-axis; 13 is a truss Y-axis; 14 is a truss Z-axis; 15 is a truss R-axis; 2 is a robotic arm; 3 is a gripper; 4 is a laser module; 41 is a laser displacement sensor mounting support frame; 42 is a laser displacement sensor; 5 is an end effector of the robotic arm; 51 is a flange; 52 is a slurry nozzle; 6 is a brick. Detailed implementation manners

[0061] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but it is not a limitation of the present invention.

[0062] It should be noted that the device structure and drawings of the present invention mainly describe the principle of the present invention. On the basis of this design principle, the settings of the power mechanism, power supply system, and control system of the device are not fully described. However, on the premise that those skilled in the art understand the principle of the above invention, the specific details of its power mechanism, power supply system, and control system can be clearly obtained. The control method can be automatically controlled through a controller, and the control algorithm of the controller can be simply programmed by those skilled in the art.

[0063] In addition, for the execution order of the actions and steps in the device and method shown in the claims, the description of the specification, and the drawings, as long as there is no particularly explicit order limitation, and as long as the output of the previous process is not used in the subsequent process, it can be implemented in any order.

[0064] Embodiment 1

[0065] See Figures 1 to 3, this embodiment provides an automatic brick positioning and mud coating device, including a robotic arm 2 (preferably a six-axis robotic arm) and its control unit, which are used to support and move the mud nozzle 52, enabling it to move flexibly in three-dimensional space and perform coating movements; it also includes at least three laser displacement sensors 42, an information acquisition unit, and a brick surface positioning unit.

[0066] The laser displacement sensors 42 are installed around the mud nozzle at the end of the robotic arm 2 through the laser displacement sensor mounting support frame 41 to measure the distance information from the coating surface of the brick to the laser displacement sensors 42. More specifically, the laser displacement sensors 42 emit laser beams and receive the laser beams reflected from the coating surface of the brick 6. By calculating the distance between the laser point and the sensor, the distance data on the brick coating surface is obtained.

[0067] The information acquisition unit is used to receive the real-time data of the laser displacement sensors 42 and the pose of the robotic arm, and calculates the three-dimensional position information of the laser point in the base coordinate system of the robotic arm.

[0068] The brick surface positioning unit calculates the accurate position and pose of the coating surface in the base coordinate system of the robotic arm according to the laser point position information obtained by the laser displacement sensors 42 and the real-time data of the robotic arm pose.

[0069] When mud is coated on the coating surface, according to the real-time position and pose of the coating surface in the base coordinate system of the robotic arm provided by the brick surface positioning unit, the mechanical arm adaptive control algorithm is used to adjust the movement trajectory of the mechanical arm and the position of the mud nozzle during coating, so that a preset ideal distance and angle are maintained between the mud nozzle and the coating surface, and uniform mud coating is performed.

[0070] As a specific implementation example, the laser module 4 is composed of three laser displacement sensors 42 and the laser displacement sensor mounting support frame 41. The laser displacement sensors 42 are installed on the flange 51 of the end effector 5 of the robotic arm through the laser displacement sensor mounting support frame 41. The laser displacement sensor mounting support frame 41 is preferably an adjustable bracket, and its adjustment function can be realized by opening sliding grooves on the frame body and combining with fixing bolts, or by uniformly distributing a number of fixing holes on the frame body and combining with fixing bolts. Adjust the position of the laser displacement sensors 42 so that it can adapt to bricks 6 of different sizes and shapes. Through the adjustment of the laser displacement sensor mounting support frame 41, it can be ensured that the laser beams of the laser displacement sensors 42 can irradiate the coating area of the brick 6. The laser displacement sensors 42 emit laser beams and receive the laser beams reflected from the coating surface, and obtain the distance information of the coating of the brick 6 by measuring the distance between the laser point and the sensor.

[0071] When the information acquisition unit collects the information of the smeared surface of brick 6, the robotic arm 2 is controlled to move to the information acquisition position of the smeared surface of brick 6. At this time, the laser module 4 is installed on the robotic arm 2 and moves to the position directly opposite to the smeared surface of brick 6 to ensure an appropriate distance and angle between the laser module 4 and the smeared surface. Preparation is made for information acquisition of the smeared surface.

[0072] As Figure 4 shown, the distances and positions of multiple points are measured by multiple laser displacement sensors, and the precise position of the brick surface in space is calculated and determined. Taking the use of three laser displacement sensors as an example, the specific calculation process is described below.

[0073] (1) Sensor layout and input data:

[0074] Three laser displacement sensors are used to measure three points on a certain plane in space, denoted as , , , and their positions in the base coordinate system are , , .

[0075] During the measurement process of the laser displacement sensor, the sensor coordinate system rotates around the base coordinate system of the robotic arm by , , axis by angles , , .

[0076] The measured distances of the three laser sensors are , , , that is, the distances from the sensor to the points on the target plane.

[0077] (2) Rotation matrix calculation:

[0078] Calculate the total rotation matrix of the sensor coordinate system, which is obtained by the product of the rotation matrices , , around the , , axis:

[0079]

[0080] The specific formula is:

[0081] , ,

[0082] (3) Calculation of the actual measurement point positions:

[0083] Through the rotation matrix transform the laser direction into a direction vector in the base coordinate system of the robotic arm :

[0084]

[0085] According to the measured distance , , , calculate the coordinates of three actual measurement points on the plane:

[0086]

[0087]

[0088]

[0089] (4) Calculation of the plane equation:

[0090] Use the three measurement points , , to determine the plane containing these three points.

[0091] First, calculate two vectors:

[0092] ,

[0093] By calculating the cross product of the vectors, obtain the plane normal vector :

[0094]

[0095] Specifically:

[0096]

[0097]

[0098]

[0099] According to the normal vector and the measurement point , the plane equation is:

[0100] ,

[0101] where d is the distance from the smeared plane to the origin of the base coordinate system of the robotic arm.

[0102] (5)Result output:

[0103] Through the above calculations, an equation describing the planar position information is obtained , where , , , are the specific calculation results. This plane equation can be used to adjust the distance between the brick surface at the end of the mud nozzle.

[0104] The brick surface positioning unit combines the distance information obtained by the laser displacement sensor 42 with the pose information (including position and orientation) of the robotic arm 2, and converts the distance information of each laser measurement point into three-dimensional point coordinates in the base coordinate system of the robotic arm. The converted three-dimensional point coordinate data is stored in the memory of the brick surface positioning unit to form complete smeared surface position data. The data contains the position information of the smeared surface of the brick 6 in the base coordinate of the robotic arm. This data will be used for subsequent trajectory adjustment to ensure the accuracy and consistency of the spraying operation.

[0105] According to the shape and size of the standard brick, a set of standard spraying trajectories are predefined in the robotic arm control unit. These trajectories are designed based on the ideal smeared surface, usually uniform straight or curved paths, to ensure that the spraying operation covers the entire smeared surface.

[0106] In application, using the three-dimensional position information obtained from the brick surface positioning unit, the robotic arm control unit adjusts the initial spraying trajectory through the robotic arm adaptive control algorithm. The goal of the adjustment is to make the spraying trajectory perfectly match the actual smeared surface, ensuring that the mud nozzle 52 maintains an appropriate distance and angle from the smeared surface during the spraying process.

[0107] After the trajectory adjustment is completed, the robotic arm 2 moves to the spraying starting position. The robotic arm control unit precisely controls the movement of the robotic arm 2, so that its end effector 5 (including the mud nozzle 52) applies mud along the adjusted trajectory to ensure the stability and consistency of the spraying effect.

[0108] Embodiment 2

[0109] See Figure 5 , this embodiment provides a masonry robot system, including:

[0110] A truss and jaw unit that grabs the brick 6 from the original position and precisely moves it to the working area of the robotic arm 2 for fixation. The grasping and handling of the brick 6 are completed by the truss 1 and the jaw 3.

[0111] The automatic brick positioning and mud smearing device as described in Embodiment 1.

[0112] The movement and fixation of the bricks are completed by the truss structure and the gripper device. The truss 1 and the gripper 3 work together to pick up the brick 6 from its original position and move it to a predetermined position, ensuring that the brick 6 is in a suitable position for plastering so that the robotic arm 2 can perform precise mortar plastering operations.

[0113] Preferably, referring to Figure 6 , the main components of the truss 1 include the truss floor rail 11, the truss X-axis 12, the truss Y-axis 13, the truss Z-axis 14, and the truss R-axis 15. The truss floor rail 11 provides overall support, enabling the truss to move freely within the working space; the truss X-axis 12 and the truss Y-axis 13 are responsible for movement within the horizontal plane, positioning the gripper on the working plane; the truss Z-axis 14 controls the height adjustment in the vertical direction, ensuring that the gripper can move up and down to pick up the bricks; the truss R-axis 15 provides a rotation function, enabling the gripper to adjust the grasping angle. The gripper 3 is installed at the end of the truss R-axis. Through the combined movement of these components, precise movement and positioning of the gripper 3 in three-dimensional space are achieved. The masonry robot realizes precise identification of the brick surface position and automatic control of the plastering operation by combining the precise motion control of the truss with the high-precision distance measurement of the laser displacement sensor.

[0114] Taking the specific construction of the masonry in the combustion chamber area as an example, referring to Figure 7 , the method of automatically laying refractory bricks using the above-mentioned masonry robot system is described, including the following steps:

[0115] S1. Through the cooperation of the axes of the truss, the gripper 3 is precisely moved above the brick 6 and grabs the brick 6 downward; the gripper transports the grabbed brick 6 to the plastering working area of the robotic arm 2; according to the shape and size of the standard brick, the robotic arm control unit has predefined a set of initial spraying trajectories based on the ideal plastering surface; by calibration, the installation position and direction of the laser displacement sensor at the end of the robotic arm are determined, and the conversion relationship between the sensor coordinate system and the robotic arm base coordinate system is established.

[0116] S2. The robotic arm 2 moves to the brick detection position. At this time, the laser module 4 starts to collect real-time three-dimensional data of the plastering surface and the pose of the robotic arm by precisely adjusting the distance and angle between it and the plastering surface, and calculates the three-dimensional position information of the laser points in the robotic arm base coordinate system; the combination of the movement path of the robotic arm and the measurement results of the laser sensor provides precise position information for the subsequent spraying operation.

[0117] S3. The brick surface positioning unit converts the distance information of each laser measurement point into three-dimensional point coordinates in the robotic arm base coordinate system; the converted three-dimensional point coordinate data is stored in the memory of the brick surface positioning unit to form complete plastering surface positioning data.

[0118] S4. Using the three-dimensional position information obtained from the brick surface positioning unit, the robotic arm control unit adjusts the initial spraying trajectory in real time through this adaptive control algorithm to ensure that the spraying trajectory perfectly matches the actual plastering surface, and to ensure that the slurry nozzle always maintains an appropriate distance and angle from the plastering surface during spraying.

[0119] S5. After the trajectory adjustment is completed, the robotic arm moves to the spraying starting position; the robotic arm control unit precisely controls the movement of the robotic arm so that the slurry nozzle at its end applies slurry along the adjusted trajectory to ensure the stability and consistency of the spraying effect.

[0120] S6. The gripper transports the bricks with applied slurry to the position to be masoned.

[0121] During each spraying process, the robotic arm can, based on the position data of the brick surface and the spraying trajectory, no longer require frequent adjustment and recalibration, thus realizing automated and precise spraying operations.

[0122] In summary, the present invention provides a device for automatic positioning of bricks and slurry application, a masonry robot system, and a masonry method. The device for automatic positioning of bricks and slurry application includes at least three laser displacement sensors installed around the slurry nozzle at the end of the robotic arm to measure the distance information from the plastering surface to the laser displacement sensors; an information acquisition unit for receiving real-time data from the laser displacement sensors and the pose of the robotic arm; and a brick surface positioning unit for calculating the precise position and pose of the plastering surface in the base coordinate system of the robotic arm based on the laser point position information obtained by the laser displacement sensors and the data of the pose of the robotic arm. According to the real-time position and pose of the plastering surface in the base coordinate system of the robotic arm, the present invention uses an adaptive control algorithm of the robotic arm to adjust the spraying movement trajectory of the robotic arm and the position of the slurry nozzle, so that an ideal distance and angle are maintained between the slurry nozzle and the plastering surface, in order to solve problems such as uneven spraying thickness and slurry waste caused by the irregularity of the plastering surface during automatic plastering.

[0123] Those skilled in the art should understand that those skilled in the art can achieve variations in combination with the prior art and the above embodiments, which will not be elaborated here. Such variations do not affect the essence of the present invention and will not be elaborated here.

[0124] The preferred embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and the systems and structures not described in detail therein should be understood to be implemented in a common manner in the art; any person skilled in the art can, without departing from the scope of the technical solution of the present invention, make many possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above, or modify it into an equivalent embodiment with equivalent changes, which does not affect the essence of the present invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of protection of the technical solution of the present invention.

Claims

1. An automatic brick positioning and mud spreading device, comprising a robotic arm and its control unit, which is used to support and move a mud nozzle so that it can move flexibly in three-dimensional space and perform spreading motion; characterized in that, It further includes: At least three laser displacement sensors, which are installed around the mud nozzle at the end of the robotic arm through a laser displacement sensor mounting support frame to measure the distance information from the smeared surface of the brick to the laser displacement sensor; An information acquisition unit, which is used to receive the real-time data of the laser displacement sensor and the pose of the robotic arm, and calculate the three-dimensional position information of the laser point in the base coordinate system of the robotic arm through calculation; A brick surface positioning unit, which calculates the accurate position and pose of the smeared surface in the base coordinate system of the robotic arm according to the laser point position information obtained by the laser displacement sensor and the real-time data of the pose of the robotic arm; When smearing mud on the smeared surface, according to the real-time position and pose of the smeared surface in the base coordinate system of the robotic arm provided by the brick surface positioning unit, the robotic arm adaptive control algorithm is used to adjust the movement trajectory of the robotic arm during smearing and the position of the mud nozzle, so that a preset ideal distance and angle are maintained between the mud nozzle and the smeared surface, and uniform mud smearing is performed.

2. The automatic brick positioning and mud coating device according to claim 1, characterized in that, The position of the laser displacement sensor on the laser displacement sensor mounting support frame is adjustable to ensure that the laser beam of the laser displacement sensor can irradiate the smeared area of the brick.

3. The automatic brick positioning and mud coating device according to claim 1 or 2, characterized in that, The laser displacement sensor is installed on the flange of the end effector of the robotic arm through a laser displacement sensor mounting support frame.

4. A brick automatic positioning and mud coating device according to claim 1, characterized in that, The algorithm for the brick surface positioning unit to calculate the accurate position and pose of the smeared surface in the base coordinate system of the robotic arm according to the three-dimensional position information of the laser point in the base coordinate system of the robotic arm is as follows: S11. Obtain the three-dimensional coordinates of a number of laser points in the base coordinate system of the robotic arm , where n is the number of the laser point, and calculate the rotation angles of the sensor coordinate system around the of the , , axes respectively , , and the distance from each laser displacement sensor to the point on the coating surface ; S12. By rotating around , , axis rotation matrix , , to calculate the total rotation matrix of the tool coordinate system : Where: ， ， ； S13. Calculation of the position of the actual measurement point: Through the rotation matrix Convert the laser direction into a direction vector in the base coordinate system : According to the measured distance , calculate the coordinates of the actual measurement points on the plane: S14. Determine the plane containing all actual measurement points by using the coordinates of each actual measurement point: First, calculate the vectors between other measurement points and the reference measurement point, and then obtain the plane normal vector by calculating the cross product of the vectors ; According to the normal vector and the coordinates of the reference measurement point, the plane equation is obtained as: , where d is the distance from the smeared plane to the origin of the base coordinate system of the robotic arm.

5. A masonry robot system, characterized in that, It includes: A truss and jaw unit, which grabs the brick from the original position and accurately moves it to the working area of the robotic arm for fixation; The brick automatic positioning and mud smearing device according to any one of claims 1 to 4.

6. The masonry robot system according to claim 5, characterized in that, The truss includes: A truss ground rail, which provides overall support to enable the truss to move freely within the working space; Truss X-axis and Y-axis, which are responsible for movement in the horizontal plane and positioning the position of the jaw on the working plane; Truss Z-axis, which controls the height adjustment in the vertical direction to ensure that the jaw can move up and down to grab the brick; Truss R-axis, which provides a rotation function to enable the jaw to adjust the grabbing angle; The jaw is installed at the end of the truss R-axis.

7. A masonry method for automatic brick masonry, characterized in that, Adopt the masonry robot system according to any one of claims 5 or 6, including the following steps: S1. Through the cooperation of each axis of the truss, accurately move the jaw above the brick and grab the brick downward; the jaw transports the grabbed brick to the smearing working area of the robotic arm; according to the shape and size of the standard brick, the robotic arm control unit has predefined a set of initial spraying trajectories based on the ideal smeared surface; through calibration, determine the installation position and direction of the laser displacement sensor at the end of the robotic arm, and establish the conversion relationship between the sensor coordinate system and the base coordinate system of the robotic arm; S2. The robotic arm moves to the brick detection position, obtains the real-time data of the laser displacement sensor and the pose of the robotic arm, and calculates the three-dimensional position information of the laser point in the base coordinate system of the robotic arm through calculation; S3. The brick surface positioning unit converts the distance information of each laser measurement point into three-dimensional point coordinates in the base coordinate system of the robotic arm; the converted three-dimensional point coordinate data is stored in the memory of the brick surface positioning unit to form complete plastering surface positioning data; S4. Using the three-dimensional position information obtained from the brick surface positioning unit, the robotic arm control unit makes real-time adjustments to the initial spraying trajectory; S5. After the trajectory adjustment is completed, the robotic arm moves to the spraying starting position; the robotic arm control unit precisely controls the movement of the robotic arm so that the mud nozzle at its end performs mud plastering according to the adjusted trajectory; S6. The gripper transports the bricks with mud plastered on them to the position to be masoned.

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