Mortar trowelling robot and using method

Abstract

The invention provides a mortar trowelling robot and a using method. The robot comprises a crawler chassis and a plurality of trowelling mechanisms located on the periphery of the crawler chassis. The sensing mechanism is located on the crawler chassis, the sensing mechanism obtains absolute positioning information and conducts obstacle recognition and trowelling path planning after obstacle avoidance through the control system, and a plurality of midway points are arranged on the trowelling path; the executing mechanism executes instructions of the control unit, drives the trowelling mechanisms to rotate and controls the multiple trowelling mechanisms to revolve along the track chassis, opposite movement is formed between the rotating movement and the revolving movement, opposite force in the rotating process of the trowelling mechanisms counteracts reverse inertia force in the revolving movement, and the trowelling mechanisms are driven by the executing mechanism to rotate along the track chassis. And in the opposite movement of revolution and rotation, the trowelling mechanism circularly and repeatedly moves along a planned path with a midway point. The method has the characteristics of large construction area and high working efficiency.

Description

Technical Field

[0001] The present invention relates to the field of construction related to mortar leveling, and in particular to a mortar leveling robot and a method for using the mortar leveling robot. Background Art

[0002] In the existing technology, for the finishing in concrete construction, it is mostly done manually with a trowel, or people use a hand-held gasoline trowel, which uses its own large cast iron disc to rotate and compact the ground with gravity to carry out ground construction; or use a human-driven gasoline trowel, which is similar to a hand-held trowel in construction, except that the driven trowel is heavier and has a better compaction effect on the ground. When people sit on the equipment, the work intensity is reduced; or use the latest construction robot product, a crawler single-disc leveling robot, which can be remotely controlled to further reduce the work intensity. The robot's crawler walking unit walks autonomously, and the single-disc leveling mechanism swings for construction.

[0003] However, the various operating methods mentioned above have various problems. For example, the manual trowel has high construction intensity and low efficiency, and is prone to leaving footprints, which is difficult to handle later and the construction quality is unsatisfactory. The hand-held trowel requires manual operation, and the equipment has a large reaction force on the person, so it is generally not possible to operate for a long time. The construction area per day is generally within 200 square meters. It uses fuel, which has a high cost of use. The general fuel consumption is about 5L, and there is emission pollution to the environment. The driving trowel is heavy and cannot be used for construction on concrete floors in the initial setting stage. It is easy to damage the formed surface and needs to be used in conjunction with a hand-held trowel. It is difficult to operate and requires a certain amount of operating experience to use. The fuel consumption is high, and the daily fuel consumption can reach 20L, which has emission pollution to the environment. The remote-controlled crawler single-disc leveling robot needs to be configured with an operator, which also requires a certain amount of use and operation experience, and the degree of automation is slightly low. The construction efficiency is low, and the compaction area per unit time is small due to the moving and swinging construction mode. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a mortar leveling robot and a method for using the mortar leveling robot, which realizes automatic planning of the construction path while driving multiple leveling discs to level synchronously through the actuator, thereby improving the leveling efficiency and simultaneously achieving good construction quality, high efficiency and economic effects.

[0005] Mortar leveling robot, including, A crawler chassis and a plurality of leveling mechanisms located on the periphery of the crawler chassis; A sensing mechanism located on the crawler chassis obtains absolute positioning information and, through a control system, performs obstacle recognition and smoothing path planning after obstacle avoidance. The smoothing path is provided with several midway points; An actuator executes the instructions of the control unit, drives the smoothing mechanism to rotate, and controls several smoothing mechanisms to revolve along the track chassis, and forms opposite motions between the rotation and the revolution, so that the opposite forces in the rotation of the smoothing mechanism offset the reverse inertia force in the revolution, and in the opposite motions of the revolution and rotation, the smoothing mechanism performs cyclic and repeated motions along a planned path with midway points.

[0006] Furthermore, the smoothing path forms an arc, a bow or a closed circle, and a plurality of smoothing mechanisms perform cyclic repetitive motion in a set direction in a clockwise or counterclockwise direction along the arc, bow or closed circle.

[0007] Furthermore, there are at least two smoothing mechanisms, and the two or more smoothing mechanisms move synchronously along the closed circle, and each time they move one circle, at least two layers of smoothing are formed on the smoothing path.

[0008] Furthermore, the sensing mechanism obtains the absolute positioning of the tracked chassis in the earth coordinate system, obtains the golden latitude and height difference data information, and generates the planned path through the control system.

[0009] Furthermore, the sensing mechanism also includes a laser detection mechanism and a visual acquisition mechanism, and the laser detection mechanism and the visual acquisition mechanism acquire obstacle information, and the obstacle information includes static obstacles and dynamic obstacles.

[0010] Furthermore, a slewing support is mounted on the crawler chassis, and the smoothing mechanism is provided at the end of the slewing support.

[0011] Furthermore, an assembly cavity is formed in the crawler chassis, and a group of meshing servo motors are provided in the assembly cavity. The control unit controls the two servo motors to move in the same direction and speed, move in opposite directions and at the same speed, and move at a differential speed to control the crawler chassis to move straight, turn around or turn.

[0012] The present invention also provides a method for using the mortar leveling robot, comprising the following steps: The sensing mechanism obtains absolute positioning information within the smoothing area and, through the control system, performs obstacle recognition and smoothing path planning after obstacle avoidance. The smoothing path is provided with several midway points. The control system controls the actuator to control the smoothing mechanism to rotate, and at the same time the smoothing mechanism on the crawler chassis performs a revolution along the crawler chassis, so that the rotation and revolution directions form opposite motions; During the revolution of the smoothing mechanism, it moves repeatedly along several intermediate points to complete the repeated smoothing construction of the smoothing path.

[0013] Furthermore, in the repeated smoothing construction of the smoothing path, specifically, at least two layers of smoothing are completed each time the smoothing path moves one circle.

[0014] Furthermore, it also includes the steering of the crawler chassis and the lifting of the leveling mechanism.

[0015] The present invention has the following beneficial effects: In the present invention, compared with the local swing in the prior art, the leveling operation area is effective, and the efficiency loss caused by the interaction with the ground during the counter-movement or deceleration is large. In the present invention, the cyclic repetitive motion is always in one direction, which can offset the parallel force of the turntable, etc., not only increasing the construction surface, but also rotating in one direction, without considering repeated rotation back and forth, etc., and the work efficiency is high.

[0016] In the present invention, four trowel plates are selected to form four smoothing mechanisms, and then the four smoothing mechanisms are arranged 90° apart. When the four smoothing mechanisms revolve in the same direction with the crawler chassis as the center point, each trowel plate rotates synchronously for construction. During this process, the direction of revolution and the direction of rotation are opposite, and form opposite movement directions. Furthermore, during this process, the force generated in the direction of movement in the rotation offsets the reverse inertia force in the revolution. At the same time, the arrangement of the four smoothing mechanisms makes the construction efficiency high and the smoothing area per unit time large. In the prior art, when leveling, there is only one swinging mechanism, which swings back and forth repeatedly. The back-and-forth revolution formed by this repeated swinging causes time loss and low efficiency. When there are multiple wiping discs, multiple wiping discs are arranged in a single swinging mechanism, which also swings back and forth and revolves.

[0017] In the present invention, there are multiple points in the construction surface through the midpoint, and the smoothing mechanism needs to move along the points. When the path is long, the midpoint ensures that the smoothing mechanism moves along the set path to reduce deviation, and this point-to-point construction ensures comprehensive construction, avoids omissions, and ensures construction coverage.

[0018] In the present invention, absolute positioning is used instead of relative positioning. Specifically, the scope of the construction area is first obtained, that is, a handheld GPS positioning device is used to obtain the four longitude and latitude data of the construction square area boundary, and a construction map is obtained. On the map, the algorithm generates multiple midpoints and specifies the starting position; the equipment is controlled to the vicinity of the starting point to start construction, and the equipment moves to the starting point, performs construction, and moves to the second midpoint; until the final end position, the construction is completed; in the present invention, absolute positioning is used because of its high positioning accuracy and no relative error or cumulative error; In actual construction, the quadrilateral construction surface is generally open on all sides. The leveling mechanism formed by the trowel can move out of the quadrilateral boundary to ensure that the corners of the quadrilateral can also be covered; and the spacing can be flexibly changed and can be large or small. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of the mortar leveling robot of the present invention; Figure 2 This is the second structural schematic diagram of the mortar leveling robot provided by the present invention; Figure 3 This is the third structural diagram of the mortar leveling robot provided by the present invention; Figure 4 This is a front view of the mortar leveling robot provided by the present invention; Figure 5 This is a left side view of the mortar leveling robot provided by the present invention; Figure 6 A top view of the mortar leveling robot provided by the present invention; Figure 7 An assembly diagram of the push rod motor and the brushless DC motor provided by the present invention; Figure 8 An assembly diagram of the first hinge and the second hinge provided by the present invention; Figure 9 The arcuate path diagram of the mortar leveling robot provided by the present invention; In the picture: 1. Tracked chassis; 11. Rotating motor; 12. Tracks; 13. Driving wheel; 14. Driven wheel; 15. Servo motor; 16. Quadcopter slewing bearing; 2. Smoothing mechanism; 21. Push rod motor; 22. Brushless DC motor; 23. First hinge; 24. Second hinge; 3. Sensing mechanism; 31. GNSS antenna; 32. Gyroscope; 33. Multi-line laser radar; 34. 3D camera; 4. Slewing support DETAILED DESCRIPTION

[0020] The present invention is described in detail below with reference to the various embodiments shown in the accompanying drawings, but it should be noted that these embodiments are not limitations of the present invention, and any equivalent transformations or substitutions in functions, methods, or structures made by ordinary technicians in this field based on these embodiments are all within the scope of protection of the present invention.

[0021] Refer to the attached Figure 1-6As shown, the mortar leveling robot in the present invention, in one embodiment, is provided with four leveling mechanisms, thereby forming a four-rotor concrete processing robot. Specifically, it realizes the effects of electric, intelligent, efficient and information-based. Specifically, it is divided into several major modules, namely, a perception system, a motion system, an execution system, a monitoring system and an expert system. The perception system includes an image acquisition unit and a positioning mechanism in the acquisition unit; the motion system includes a first drive mechanism for controlling the crawler chassis and a second drive mechanism for controlling the leveling mechanism in the execution mechanism, and the first drive mechanism includes at least two gear-engaged motor groups; the monitoring system includes a control unit and an image acquisition unit for timely collecting environmental information, etc. The expert system refers to an AI algorithm, and different weather, temperature, concrete state, and different construction parameters are used to perform operations, which are automatically matched through the algorithm.

[0022] First, the mortar leveling robot in the present invention is introduced as follows: Refer to the attached Figure 1-6 As shown, the mortar leveling robot in this embodiment includes a crawler chassis 1 and a plurality of leveling mechanisms 2 located on the periphery of the crawler chassis 1; The sensing mechanism 3 located on the crawler chassis 1 obtains absolute positioning information and, through a control system, performs obstacle identification and smoothing path planning after obstacle avoidance. The smoothing path is provided with several intermediate points. In this embodiment, the sensing mechanism 3 specifically includes a GNSS antenna 31, a gyroscope 32, a multi-line laser radar 33, and a 3D camera 34. Furthermore, the robot integrates sensors such as the global navigation satellite system (GNSS), a multi-line laser radar, a visual sensor, and a gyroscope to implement a multi-sensor fusion sensing module. The robot achieves absolute positioning in the Earth coordinate system through the GNSS differential positioning algorithm (RTK), obtains golden latitude and elevation data information, and simultaneously combines the multi-line laser radar and visual sensor to identify and avoid obstacles. The combination of laser and vision can accurately identify whether it is a dynamic obstacle or a static obstacle. In addition, when the satellite signal is weak, the robot's positioning signal is seamlessly connected through gyroscope inertial navigation positioning, thereby improving the accuracy and reliability of the robot's positioning. This multi-sensor fusion positioning algorithm can achieve a positioning accuracy of 5-10mm.

[0023] It also includes an actuator (not shown in the figure), which executes the instructions of the control unit, drives the smoothing mechanism 2 to rotate, and controls several smoothing mechanisms 2 to revolve along the crawler chassis 1. The rotation and revolution movements form opposite movements, so that the opposite forces in the rotation of the smoothing mechanism 2 offset the reverse inertia forces in the revolution movement, and in the opposite movements of revolution and rotation, the smoothing mechanism 2 performs cyclic and repeated movements along a planned path with midway points.

[0024] In this embodiment, four wiping disc mechanisms 4 are set up, and then the crawler chassis 1 is driven by two servo motors to drive the crawler to rotate, thereby driving the entire robot to walk. The two servo motors move in the same direction and speed, and the robot moves straight forward and backward. The two servo motors move in opposite directions and at the same speed, and the robot turns around on the spot. The two servo motors move differentially, and the robot turns. Through this control, the robot is allowed to approach the construction area first.

[0025] In this embodiment, when controlling, a slewing support 4 is also included. The slewing support 4 is assembled above the crawler chassis 1 through a frame. Then, a driving motor drives the slewing support 4 to rotate. Then, there are at least two slewing supports 4, and the two slewing supports 4 are arranged crosswise. A smoothing mechanism is provided at both ends of each slewing support. Then, there are 2N smoothing mechanisms 2, where N is a natural number greater than or equal to 1. Then, the smoothing mechanisms 2 are symmetrically arranged. A rotating motor 11 is also provided in the frame above the crawler chassis 1, specifically a four-rotor rotating motor. Its rotation drives the rotation of the slewing support 4.

[0026] The crawler chassis specifically includes a crawler track 12 and a driving wheel 13 and a driven wheel 14 on the crawler track, all of which are used to rotate the crawler track. A servo motor 15 is also provided on the frame. The servo motor 15 drives the driving wheel and the driven wheel to move, thereby realizing the movement of the crawler chassis 1 on the horizontal plane.

[0027] When the crawler chassis 1 rotates on the horizontal plane, the smoothing mechanism 2 needs to be raised by the lifting mechanism to make it suspended in the air, and then the four-rotor slewing bearing 16 in the frame rotates, driving the crawler chassis 1 to rotate. When it revolves, the rotating motor 11 drives the slewing support 4 and the smoothing mechanism 2 thereon to revolve along the crawler chassis 1.

[0028] In this embodiment, the trowel mechanism 2 can also be extended and retracted in the horizontal direction and lifted and lowered in the vertical direction at the end of the rotary support 4. Figure 7 As shown, it includes a push rod motor 21 that drives the horizontal movement of the smoothing mechanism 2 and a lifting DC brushless motor 22, which moves up and down through an electric linear mechanism to push the smoothing mechanism 2 and the crawler chassis to move relative to each other, so that the tray contacts the ground and the chassis of the smoothing mechanism 2 is lifted off the ground by lifting and jacking to achieve jacking.

[0029] Refer to the attached Figure 8As shown, in this embodiment, the smoothing mechanism 2 can also make forward and backward pitching movements along the first hinge 23 under the action of the electric linear mechanism. At the same time, due to the influence of the floating gap, after the smoothing mechanism 2 falls to the ground, the execution end of the electric linear mechanism falls in the middle of the floating mechanism, ensuring that the smoothing mechanism 2 falls freely under the action of gravity. At the same time, the attitude sensor detects the attitude of the wiping plate and adjusts the position of the second hinge 24 under the constraint of the revolving pair to ensure that the wiping plate falls freely under the action of gravity, ensuring that the wiping plate and the ground fit tightly. In this embodiment, the smoothing path forms an arc, a bow or a closed circle, and a plurality of smoothing mechanisms 2 perform cyclic repetitive motion in a set direction along the arc, bow or closed circle in a clockwise or counterclockwise direction.

[0030] The cyclic repetitive motion of the arc and closed loop can be achieved directly by rotating the motor 11 in a full circle or in a partial arc.

[0031] In this embodiment, the crawler trolley carries the entire machine mechanism and moves forward in the horizontal direction. At the same time, each wiping plate mechanism rotates in the clockwise or counterclockwise direction along the set circular trajectory to smooth the ground. In addition, each wiping plate mechanism revolves along the circumferential direction with the crawler chassis as the center and the distance between the smoothing mechanism and the crawler chassis as the radius, forming an entire working area. The entire working area continuously moves forward in the horizontal direction to achieve large-scale construction.

[0032] In a scenario where a large area is to be constructed, the crawler vehicle moves horizontally in intervals and trajectories in the X and Z directions to form an arched path to complete the coverage construction of the large area.

[0033] In this embodiment, the smearing mechanism 2 is at least two, and the two or more smearing mechanisms move synchronously along the closed circle. Each time the smearing mechanism moves in one circle, at least two layers of smearing are formed on the smearing path. When completing one circle, each smearing mechanism passes through the circle. When there are two smearing mechanisms, one circle is completed and two layers are applied. If there are three smearing mechanisms, three layers are applied, and so on.

[0034] In this embodiment, the sensing mechanism 3 obtains the absolute position of the tracked chassis 1 in the Earth coordinate system, as well as the golden latitude and elevation difference data, and generates the planned path through the control system. Specifically, through gyroscope inertial navigation positioning, the robot's positioning signals are seamlessly integrated, thereby improving the accuracy and reliability of the robot's positioning, thereby achieving a multi-sensor fusion positioning algorithm.

[0035] In this embodiment, the sensing mechanism 3 also includes a laser detection mechanism (i.e., a multi-line laser radar 33) and a visual acquisition mechanism (i.e., a 3D camera 34). These mechanisms acquire obstacle information, including both static and dynamic obstacles. In this embodiment, the addition of multiple obstacle information enhances overall safety.

[0036] During installation, a rotary support 4 is mounted on the crawler chassis 1 , and the smoothing mechanism 2 is provided at the end of the rotary support 4 .

[0037] For the motion control of the crawler chassis 1, an assembly cavity is formed in the crawler chassis 1, and a group of meshing servo motors 15 are provided in the assembly cavity. The control unit controls the two servo motors to move in the same direction and speed, move in opposite directions and at the same speed, and move at a differential speed to control the crawler chassis 1 to move straight, turn around or turn.

[0038] Secondly, the method of using the mortar leveling robot in the present invention is introduced as follows: 1) The actuator controls the crawler chassis 1 to move, specifically controls the rotary motor 11, etc., to make it move straight, turn around, or turn to the area to be leveled; 2) The GNSS antenna 31 and the gyroscope 32 in the sensing mechanism 3 obtain absolute positioning information within the smoothing area, and perform obstacle recognition and smoothing path planning after obstacle avoidance through the control system. A number of midpoints are provided on the smoothing path. In this embodiment, a number of midpoints are set, and then during smoothing, each smoothing mechanism is required to complete the smoothing path through the midpoints. This setting method can ensure that the smoothing mechanism follows the set path as much as possible. If there are only end points and endpoints, the deviation of the intermediate path cannot be detected. Therefore, the higher the midpoint, the higher the accuracy of following the smoothing path.

[0039] Refer to the attached Figure 9 As shown, during use, the handheld GNSS differential positioning equipment is used to obtain the four longitude and latitude information of the construction boundary. Combined with the scope and space of the robot's construction, the algorithm generates multiple midway points and their longitude and latitude data, as well as the construction arch path. The robot uses the GNSS differential positioning algorithm (RTK) to perform absolute positioning of the robot in the earth coordinate system, realizing high-precision positioning and navigation movement of the robot along the path.

[0040] Combining multi-line laser radar and visual sensors, obstacles can be identified and avoided. Through the combination of laser and vision, dynamic and static obstacles can be accurately identified. In addition, when the satellite signal is weak, the robot positioning signal is seamlessly connected through gyroscope inertial navigation positioning, thereby improving the accuracy and reliability of the robot positioning. This multi-sensor fusion positioning algorithm can achieve a positioning accuracy of 5-10mm.

[0041] 3) The control system controls the actuator to control the smoothing mechanism 2 to rotate, while the smoothing mechanism 2 on the crawler chassis 1 revolves along the crawler chassis 1, so that the rotation and revolution directions form opposite motions; During the revolution of the smoothing mechanism, it moves repeatedly along several intermediate points to complete the repeated smoothing construction of the smoothing path.

[0042] In this embodiment, the opposite movements of rotation and revolution offset the generation of reverse inertial force, making the entire movement more accurate.

[0043] In this embodiment, the repeated smoothing construction of the smoothing path is specifically completed by completing at least two layers of smoothing each time the smoothing path moves one circle.

[0044] In order to ensure that the crawler chassis 1 moves smoothly to the construction area, and then the crawler chassis 1 is turned and the smoothing mechanism 2 is lifted, it is possible to avoid excessive friction between the smoothing mechanism 2 and the ground during the rotation of the crawler chassis 1.

[0045] The robotic construction implementation method in this embodiment uses a handheld GPS / RTK receiver to obtain the longitude and latitude data of the construction boundary, thereby forming a construction movement area. A construction path is then planned within the area, generating N intermediate target points. The robot uses a multi-sensor fusion positioning module and navigation algorithm to achieve movement and construction between the N intermediate points, ultimately achieving full coverage of the target area. The robot adopts the three-electric platform technology of battery power supply, motor drive and electronic control. The battery adopts ternary lithium power battery with high energy density. Low-voltage servo motors are used for parts that have control requirements for position and speed and low-speed precision requirements, such as crawler walking motors and rotor rotation motors. DC brushless motors are used for positions that require large driving force and low control precision, such as wiper rotation. DC push rod motors are used for positions with low control requirements and low operating speed, such as crawler jacking and wiper lifting. The electronic control module uses a main control PCB circuit board based on the STM32 chip. On the one hand, it reads the signals input by each sensor through bus protocol communication (CAN, 485, Ethercat), and performs motion control on peripherals (servo motors, brushless motors, push rod motors) through logic and algorithm operations.

[0046] The robot's mechanical part consists of a crawler chassis and four wiper mechanisms. The crawler chassis is driven by two servo motors, which drive the crawler tracks to rotate, thereby driving the robot to walk. The two servo motors move in the same direction and speed, allowing the robot to move forward and backward. The two servo motors move in opposite directions and at the same speed, allowing the robot to turn around on the spot. The two servo motors move at a differential speed, allowing the robot to turn. Quadrotor + lifting mechanism + self-weight landing mechanism; The four wiping disc mechanisms are bolted to the slewing support through a frame structure, allowing them to perform circular motion along with the slewing support. Driven by a servo motor, the gears engage to amplify torque and reduce speed, driving the slewing support to rotate. At the same time, a single wiping disc can rotate on its own, driven by a brushless DC motor. The construction mode of the four wiping disc mechanisms revolving and a single wiping disc rotating can achieve higher construction efficiency per unit time and more troweling frequency per unit area, thereby achieving high efficiency and high quality of robot construction. Compared with the single-disc swing construction method, the same rotation speed, the same travel speed, and continuous rotational motion bring higher construction efficiency without the need for frequent reverse rotation, which loses time for acceleration and deceleration; the four-disc operation, compared with the swing-arm single-disc, increases the frequency of leveling per unit area by 2 times; because the four-disc structure is more stable, the four-disc mechanism can rotate at a higher speed, and there is no need to worry about the reaction force caused by the reverse rotation, thereby twisting the vehicle body and causing it to yaw. At the same time, the rotation speed of a single dispensing disc can also be accelerated, and the rotation direction in the symmetrical direction can be opposite, thereby offsetting the reaction force caused by the rotation; due to the improved leveling efficiency per unit area, the robot's travel speed can also be further accelerated.

[0047] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0048] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. Mortar leveling robot, characterized in that, include, A crawler chassis and a plurality of leveling mechanisms located on the periphery of the crawler chassis; A sensing mechanism located on the crawler chassis obtains absolute positioning information and, through a control system, performs obstacle recognition and smoothing path planning after obstacle avoidance. The smoothing path is provided with several midway points; An actuator executes the instructions of the control unit, drives the smoothing mechanism to rotate, and controls several smoothing mechanisms to revolve along the track chassis, and forms opposite motions between the rotation and the revolution, so that the opposite forces in the rotation of the smoothing mechanism offset the reverse inertia forces in the revolution, and in the opposite motions of the revolution and rotation, the smoothing mechanism performs cyclic and repeated motions along a planned path with midway points.

2. The mortar leveling robot according to claim 1, characterized in that: The smoothing path forms an arc, a bow or a closed circle, and a plurality of smoothing mechanisms perform cyclic repetitive motion in a set direction along the arc, bow or closed circle in a clockwise or counterclockwise direction.

3. The mortar leveling robot according to claim 2, characterized in that: There are at least two smoothing mechanisms, and the two or more smoothing mechanisms move synchronously along the closed circle. Each time they move one circle, at least two smoothing layers are formed on the smoothing path.

4. The mortar leveling robot according to claim 1, characterized in that: The sensing mechanism obtains the absolute positioning of the crawler chassis in the earth coordinate system, obtains the golden latitude and height difference data information, and generates the planned path through the control system.

5. The mortar leveling robot according to claim 4, characterized in that: The sensing mechanism further includes a laser detection mechanism and a visual acquisition mechanism, and the laser detection mechanism and the visual acquisition mechanism acquire obstacle information, and the obstacle information includes static obstacles and dynamic obstacles.

6. The mortar leveling robot according to claim 1, characterized in that: A rotary support is mounted on the crawler chassis, and the smoothing mechanism is provided at the end of the rotary support.

7. The mortar leveling robot according to claim 1, characterized in that: An assembly cavity is formed in the crawler chassis, and a group of meshing servo motors are arranged in the assembly cavity. The control unit controls the two servo motors to move in the same direction and speed, move in opposite directions and at the same speed, and move at a differential speed to control the crawler chassis to move straight, turn around or turn.

8. The method for using the mortar leveling robot is characterized in that: The following steps are included: The sensing mechanism obtains absolute positioning information within the smoothing area and, through the control system, performs obstacle recognition and smoothing path planning after obstacle avoidance. The smoothing path is provided with several midway points. The control system controls the actuator to control the smoothing mechanism to rotate, and at the same time the smoothing mechanism on the crawler chassis performs a revolution along the crawler chassis, so that the rotation and revolution directions form opposite motions; During the revolution of the smoothing mechanism, it moves repeatedly along several intermediate points to complete the repeated smoothing construction of the smoothing path.

9. The method for using the mortar leveling robot according to claim 8, characterized in that: In the repeated smoothing construction of the smoothing path, specifically, each time the smoothing path moves one circle, at least two layers of smoothing are completed.

10. The method for using the mortar leveling robot according to claim 8, characterized in that: It also includes the steering of the track chassis and the lifting of the leveling mechanism.

Images