Multi-process intelligent control method and system for construction robot

Abstract

The application discloses a multi-process intelligent control method and system of a building robot, and relates to the technical field of the building robot.The building robot is integrated with an auger, a track assembly, a watering assembly and a double-leg stride assembly.The building robot moves in the front-rear direction through the track assembly, and compacts the already-screeded mortar ground based on the track.The building robot waters the already-compacted mortar ground through the watering assembly, and triggers the light collection of the watered mortar ground according to the rotation of the grinding disc.The double-leg stride assembly of the building robot cooperates with the track to walk, realizes the left-right movement of the robot on the already-collected light mortar ground, makes the track of the building robot compact another already-screeded mortar ground, and sequentially performs the subsequent watering process and light collection process on the another already-screeded mortar ground, so as to realize the multi-process intelligent control of the building robot, and realize the efficient cooperative operation of the four processes of leveling, compacting, watering and light collection.

Description

Technical Field

[0001] This invention relates to the technical field of construction robots, and in particular to a multi-process intelligent control method and system for construction robots. Background Technology

[0002] Mortar flooring construction is a crucial step in building engineering, and its quality directly determines the flatness, strength, and subsequent decorative effects of the floor. In existing technologies, the core processes of leveling and compaction usually require separate completion by different equipment or manual labor. For example, leveling relies on laser leveling machines or manual screeding, while compaction requires vibrators or manual tamping tools. This makes it impossible to achieve efficient and coordinated operation of the four processes of leveling, compaction, watering, and finishing, thus affecting construction efficiency. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art. This invention provides a multi-process intelligent control method and system for construction robots.

[0004] This invention provides a multi-process intelligent control method for construction robots, including:

[0005] The construction robot receives the laser line deviation signal output by the laser level based on the laser receiver, determines the auger's action based on the analysis of the laser line deviation signal, and triggers the auger's adjustment so that the auger can scrape the mortar floor along the laser line trajectory emitted by the laser level.

[0006] The construction robot integrates an auger, tracked assembly, sprinkler assembly, and bipedal straddling assembly. During the movement of the construction robot, it moves forward and backward via the tracked assembly and compacts the leveled mortar surface based on the tracks.

[0007] The construction robot sprays water onto the compacted mortar surface using a water spraying component, and triggers the finishing of the watered mortar surface based on the rotation of the grinding disc. At the same time, the grinding disc adheres to the watered mortar surface under its own weight.

[0008] The construction robot's two-legged straddling components, combined with its tracks, enable the robot to move left and right on a smoothed mortar surface. This allows the robot's tracks to compact another smoothed mortar surface, and then proceed with subsequent watering and smoothing processes on that surface, thus achieving multi-process intelligent control of the construction robot.

[0009] This invention provides a multi-process intelligent control system for a construction robot, which is applied to the aforementioned multi-process intelligent control method for construction robots.

[0010] Compared with the prior art, the beneficial effects of the present invention are:

[0011] The construction robot integrates an auger, tracked assembly, water spraying assembly, and bipedal straddling assembly. During movement, the robot moves forward and backward via the tracked assembly, compacting the leveled mortar surface. The water spraying assembly sprays water onto the compacted mortar surface and triggers a finishing process based on the rotation of a grinding disc, which adheres to the watered mortar surface under its own weight. The bipedal straddling assembly, in conjunction with the tracked assembly, enables the robot to move left and right on the finished mortar surface, allowing the tracked assembly to compact another leveled mortar surface. This is followed by subsequent water spraying and finishing processes on the other leveled mortar surface, achieving multi-process intelligent control. Through laser guidance and intelligent control, this construction robot achieves efficient collaborative operation of the four processes: leveling, compaction, water spraying, and finishing, significantly improving construction efficiency and quality while reducing reliance on manual labor and construction costs. Attached Figure Description

[0012] Figure 1 This is a flowchart illustrating the multi-process intelligent control method for construction robots in an embodiment of the present invention;

[0013] Figure 2 This is a flowchart illustrating step S11 in the multi-process intelligent control method for construction robots in this embodiment of the invention.

[0014] Figure 3 This is a flowchart illustrating step S12 in the multi-process intelligent control method for construction robots in this embodiment of the invention.

[0015] Figure 4 This is a flowchart illustrating step S13 in the multi-process intelligent control method for construction robots in this embodiment of the invention.

[0016] Figure 5 This is a flowchart illustrating step S14 of the multi-process intelligent control method for construction robots in this embodiment of the invention.

[0017] Figure 6 This is a structural schematic diagram of the construction robot in an embodiment of the present invention. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0019] Please see Figures 1 to 6A multi-process intelligent control method for construction robots, applied to construction robot scenarios; the multi-process intelligent control method for construction robots includes:

[0020] Step S11: The construction robot receives the laser line deviation signal output by the laser level based on the laser receiver, determines the action of the auger based on the analysis of the laser line deviation signal, and triggers the adjustment of the auger so that the auger can scrape the mortar floor along the laser line trajectory emitted by the laser level.

[0021] Step S12: The construction robot integrates an auger, track assembly, sprinkler assembly, and two-legged straddling assembly; during the movement of the construction robot, the construction robot moves forward and backward through the track assembly and compacts the leveled mortar ground based on the track.

[0022] Step S13: The construction robot sprays water on the compacted mortar surface using the water spraying component, and triggers the finishing of the watered mortar surface according to the rotation of the grinding disc. At the same time, the grinding disc adheres to the watered mortar surface under its own weight.

[0023] Step S14: The construction robot's two-legged straddling components work in conjunction with the tracks to move the robot left and right on the smoothed mortar surface. This allows the construction robot's tracks to compact another smoothed mortar surface, and then the robot sequentially performs subsequent watering and smoothing processes on the other smoothed mortar surface, thereby achieving multi-process intelligent control of the construction robot.

[0024] refer to Figure 2 In step S11, the specific steps are as follows:

[0025] S111: During mortar floor construction, a laser level is marked and installed in a suitable location in the construction area. The laser level emits a horizontal laser line during operation. A laser receiver is installed on the top of the construction robot. The laser receiver captures the laser line deviation signal output by the laser level and transmits the laser line deviation signal to the controller of the construction robot.

[0026] S112: The controller of the construction robot analyzes the laser line deviation signal and outputs the auger's motion content. At this time, the auger's motion content includes the required lifting height and rotation speed. Based on the required lifting height and rotation speed, the controller controls the auger drive motor and the up and down motors to make the auger scrape the mortar ground along the laser line trajectory. At the same time, the controller monitors the laser line deviation value and the auger's status in real time and makes dynamic adjustments according to the actual situation, continuously optimizing the auger's parameter settings. At this time, by feeding back the lifting and rotation information of the auger to the laser receiver, a closed-loop control is formed.

[0027] In the embodiments of this application, during the construction of mortar floor, a laser level is marked and installed in a suitable position in the construction area. The laser level emits a horizontal laser line during operation. A laser receiver is configured on the top of the construction robot. The laser receiver captures the laser line deviation signal output by the laser level and transmits the laser line deviation signal to the controller of the construction robot.

[0028] Before the construction robot performs ground leveling work, the installation positions of the laser level need to be marked within the construction area. The marking method can be selected according to the specific conditions of the construction environment. For example: ground marking: draw a cross or circle on the ground to indicate the installation center point of the laser level; wall marking: mark the installation height and horizontal direction of the laser level on the wall; bracket marking: mark the installation position and direction of the laser level on the bracket. At the same time, according to the marked positions, install the laser level in a suitable location in the construction area.

[0029] After the laser level is installed, turn it on to emit a horizontal laser line. The laser line should be clearly visible and cover the entire construction area. A laser receiver is mounted on top of the construction robot to capture the horizontal laser line signal emitted by the laser level. The laser receiver typically uses a photoelectric sensor to convert the laser signal into an electrical signal, and performs preliminary processing and amplification. The laser receiver transmits the received laser line deviation signal to the construction robot's controller. The signal transmission method can be analog or digital, depending on the interface type between the laser receiver and the controller. For example, serial ports, SPI, I2C, and other interfaces can be used for signal transmission.

[0030] Specifically, the construction robot performs mortar flooring work in a 10m x 10m room; a 1m diameter circle is drawn on the floor in the center of the room as the installation center point for the laser level; the laser level is installed on a 2m high bracket in the center of the room, and a spirit level is used to calibrate the laser level.

[0031] The laser level is activated, emitting a clearly visible horizontal laser line that covers the entire 10m x 10m room. The construction robot enters the room, and its top-mounted laser receiver captures the horizontal laser line signal emitted by the laser level. The construction robot successfully captures the laser line signal emitted by the laser level, providing an accurate benchmark for subsequent leveling work.

[0032] Furthermore, the controller of the construction robot analyzes the laser line deviation signal and outputs the auger's motion content. At this time, the auger's motion content includes the required lifting height and rotation speed. Based on the required lifting height and rotation speed, the controller controls the auger drive motor and the up and down motors to make the auger scrape the mortar ground along the laser line trajectory. At the same time, the controller monitors the laser line deviation value and the auger's status in real time and makes dynamic adjustments based on the actual situation, continuously optimizing the auger's parameter settings. At this time, by feeding back the lifting and rotation information of the auger to the laser receiver, a closed-loop control is formed, thus introducing closed-loop control.

[0033] At this point, after the construction robot's controller receives the laser line deviation signal transmitted by the laser receiver, it needs to analyze the signal and calculate the deviation angle between the laser line and the horizontal line. The analysis method can use signal processing algorithms, such as: least squares method: by processing the signals of multiple sampling points, the best-fit straight line between the laser line and the horizontal line is calculated, thereby obtaining the deviation angle; digital filtering: the laser line deviation signal is filtered to remove noise interference and improve signal accuracy.

[0034] The controller plans the lifting height and rotation speed of the auger based on the analyzed deviation angle, as well as the geometric parameters of the auger, motor performance, and the flatness of the mortar surface. The goal of the auger motion planning is to enable the auger to level the mortar surface along the laser trajectory and ensure leveling accuracy. The planning method can use kinematic algorithms, such as: rotation matrix: by establishing the rotation matrix of the auger, the coordinate position of the auger at different angles is calculated, thereby determining the lifting height of the auger; inverse kinematics: by using the inverse kinematics algorithm, the required speed of the auger drive motor and the upper and lower motors is calculated, thereby controlling the rotation speed and lifting height of the auger.

[0035] The controller controls the auger drive motor and the up and down motors according to the auger motion plan; the auger drive motor controls the rotation speed of the auger, and the up and down motors control the lifting height of the auger; the motor control method can adopt pulse width modulation (PWM) technology, which adjusts the motor speed by controlling the duty cycle of the motor.

[0036] The controller monitors the laser line deviation and the auger's status in real time, such as the auger's rotation angle and lifting height. Based on the monitoring results, the controller dynamically adjusts the auger's parameter settings to form a closed-loop control, ensuring that the auger always scrapes the mortar surface along the laser line trajectory. The closed-loop control can use feedback control algorithms, such as: Proportional-Integral-Derivative (PID) control: By performing proportional, integral, and derivative operations on the laser line deviation, the adjustment amount of the auger is calculated, thereby controlling the lifting height and rotation speed of the auger; Fuzzy control: Through fuzzy logic algorithms, the adjustment amount of the auger is calculated based on the laser line deviation and the auger's status, thereby achieving precise control of the auger.

[0037] Specifically, the controller receives the laser line deviation signal transmitted by the laser receiver and uses the least squares method to calculate that the deviation angle between the laser line and the horizontal line is 0.2°. Based on the deviation angle and the geometric parameters of the auger, the controller plans the lifting height of the auger to be 2mm and the rotation speed to be 10rpm. The controller controls the auger drive motor and the up and down motor through PWM technology, so that the auger scrapes the mortar ground along the laser line trajectory.

[0038] The controller monitors the laser line deviation and the status of the auger in real time. For example, the rotation angle of the auger is 5° and the lifting height is 1mm. Based on the monitoring results, the controller uses a PID control algorithm to adjust the lifting height of the auger to 3mm and the rotation speed to 12rpm to ensure that the auger always scrapes the mortar floor along the laser line trajectory.

[0039] refer to Figure 3 In step S12, the specific steps are as follows:

[0040] S121: The construction robot integrates an auger, track assembly, sprinkler assembly, and bipedal straddling assembly. The track assembly is located at the bottom of the construction robot, and the track assembly drives the construction robot to move in the forward and backward direction by rotating the track.

[0041] S122: The track continuously contacts the leveled mortar surface during rotation and compacts the leveled mortar surface; the controller adjusts the track walking speed to match the leveling speed to ensure the compaction effect; at the same time, the controller sets the track walking speed according to construction needs to ensure that the ground density meets the design requirements.

[0042] In the embodiments of this application, the construction robot integrates an auger 10, a track assembly 20, a water spraying assembly 30, and a two-legged straddling assembly 40. The track assembly is located at the bottom of the construction robot, and the track assembly drives the construction robot to move in the front-back direction by rotating the track.

[0043] At this point, the construction robot adopts a highly integrated modular design, integrating core components that perform different processes onto the same robot. Specifically, the auger 10, as the leveling component, is installed at the front of the robot and is responsible for first leveling the mortar. The track assembly, as the chassis support and compaction component, is located at the bottom of the robot, bearing the weight of the entire machine and responsible for compaction. The water spraying assembly is installed in the middle area of ​​the robot to moisten the compacted ground. The dual-leg straddling assembly and the track assembly together form a composite walking chassis, located on both sides of the bottom of the robot. The slurry lifting and finishing assembly is located at the rear of the robot and is responsible for the final surface treatment process. This layout allows the components to form a "leveling-compacting-watering-finishing" assembly line operation sequence in space, providing a structural foundation for continuous construction.

[0044] The track assembly, located at the bottom of the construction robot, serves not only as the walking drive module but also as the core execution component of the compaction system. This track assembly uses 400mm wide tracks with anti-slip rubber on the surface to increase friction with the mortar surface and prevent slippage. Unlike traditional roller-based locomotion, the track assembly, through its higher ground pressure, generates continuous downward pressure on the contact surface under the weight of the robot itself. As the track assembly moves, its rolling contact surface performs preliminary compaction of the leveled mortar surface, achieving a "walking and compaction" function reuse, effectively simplifying the mechanical structure and improving operational efficiency.

[0045] The movement of the track assembly is powered by the track drive motor. Under the coordination of the controller, the track drive motor (such as a variable frequency speed control motor) drives the track wheels to rotate, which in turn drives the track plates to move in a cycle. By adjusting the speed difference or synchronous speed of the two tracks, the robot can achieve forward, backward or turning movements. In step S121, the focus is on the track assembly driving the construction robot to move in a straight line along the front and back direction. The controller adjusts the walking speed of the track in real time to match the leveling operation speed of the auger at the front end, ensuring that the robot can smoothly and continuously traverse the construction area, completing both the position transfer and the compaction of the mortar ground.

[0046] Specifically, in the construction scenario of a 10m x 10m room, the construction robot has completed the initial leveling work of the front auger. The chassis of the construction robot, which is equipped with the track components and the double-leg stepping components at the bottom, is in standby mode. The front auger, the middle water tank and the rear grinding disc are all integrated on the main body, and the overall equipment is laid out along the construction direction.

[0047] The controller issues a command to start the variable frequency speed control drive motor of the track assembly; the track begins to rotate, driving the robot body forward at a preset compaction speed (e.g., 0.5 m / s); simultaneously, as the track rotates, the robot's weight is pressed onto the mortar surface that has just been leveled by the auger through the 400mm wide track; the anti-slip rubber on the track surface contacts the mortar, and as the robot moves forward, it uses its own weight to roll and compact the mortar surface, effectively improving the density of the mortar bottom, laying a solid foundation for subsequent watering and finishing processes; during this process, the robot steadily advances from one end of the room to the other, and the track assembly precisely performs the three functions of bearing, moving, and compacting.

[0048] Furthermore, the track continuously contacts the leveled mortar surface during rotation, compacting it; the controller adjusts the track travel speed to match the leveling speed, ensuring the compaction effect; simultaneously, the controller sets the track travel speed according to construction requirements to ensure the ground density meets design requirements, thus achieving the desired ground density.

[0049] At this time, during the rotation of the track assembly, the track plates at its bottom make continuous rolling contact with the leveled mortar surface. Since the track assembly is located at the bottom of the construction robot and bears the entire weight of the robot body, a large ground pressure is generated when the track contacts the ground. The track surface is equipped with anti-slip rubber, which not only increases the coefficient of friction with the mortar to prevent slippage, but also effectively squeezes and kneads the mortar particles during the rolling process. This combination of the downward pressure generated by the robot's own weight and the rotational motion of the track achieves physical compaction of the loose mortar layer, increasing its density and thus completing the compaction operation.

[0050] One of the core functions of the controller is to coordinate the working sequence of each subsystem. In step S122, the controller adjusts the speed of the track drive motor (variable frequency speed control motor) in real time to control the track's travel speed. To ensure construction quality, the track's travel speed must be closely matched with the leveling speed of the auger at the front end. If the track moves too fast, it will cause the auger's leveling operation to lag or be missed. If it moves too slowly, it may cause the auger to over-scrape or accumulate mortar in the same position. The controller compares the speed parameters of the two in real time through an internal algorithm to ensure that the compaction operation follows the leveling operation continuously, achieving seamless connection of the processes.

[0051] The compaction requirements vary for mortar surfaces of different thicknesses and grades. The controller allows operators to set specific track walking speed parameters according to the construction design requirements. During the compaction process, the track walking speed directly affects the number of compaction passes and the compaction effect: a slower walking speed means that the track has a longer time to act on the mortar per unit area, resulting in a higher compaction density; a faster speed is suitable for the construction of the base layer with relatively low density requirements. Through the precise adjustment of the track speed by the controller, combined with the compaction pressure generated by the robot's own weight, it is ensured that the final ground compaction degree meets the design requirements (such as ≥95%).

[0052] Specifically, in a 10m x 10m room construction scenario, the auger at the front of the construction robot has already leveled the uneven mortar floor. As the robot moves forward, the 400mm wide track device rotates continuously under the drive of a variable frequency speed control motor. The track slowly presses over the wet mortar floor that has just been leveled by the auger, and uses the robot's own weight to compact the loose mortar layer. The anti-slip rubber on the track surface is in close contact with the mortar, preventing slipping on the wet and slippery surface and ensuring the stability of the compaction process.

[0053] Assuming the leveling speed of the front auger is 0.5 m / s, the controller 706 monitors and adjusts the output frequency of the track drive motor in real time to ensure that the track's walking speed is strictly locked at 0.5 m / s. This synchronous control ensures that the track can accurately compact the newly leveled area every time the robot moves forward a certain distance, without any missed compaction or deep pits caused by prolonged stay.

[0054] During the construction of this room, the design required the ground compaction degree to be ≥95%. The controller controlled the track to pass through at a constant speed according to the preset parameters. Every time the leveling was completed by 60mm, the chassis track completed the corresponding compaction action. Through this precise speed control and gravity compaction, the robot was able to ensure that the density of the mortar layer on the ground was uniform.

[0055] refer to Figure 4 In step S13, the specific steps are as follows:

[0056] S131: The water spraying component and the grinding disc of the construction robot are in the same space. The water spraying component sprays water onto the grinding disc. When the grinding disc comes into contact with the smoothed mortar surface, it guides the water to the smoothed mortar surface. At this time, the compacted mortar surface is evenly moistened by the nozzle.

[0057] S132: The grinding disc rotates at high speed under the drive of the motor to perform slurry lifting and finishing on the water-sprayed mortar floor. The drive motor is a variable frequency speed control motor, which can adjust the speed of the grinding disc according to the grade of mortar and the construction environment. At the same time, the drive motor drives the grinding disc to rotate, the lifting cylinder controls the height of the grinding disc, the linear guide rail guides the up and down movement of the grinding disc, and the protective cover is used to protect the grinding disc and the drive motor.

[0058] In the embodiments of this application, the water spraying component and the grinding disc of the construction robot are in the same space. The water spraying component sprays water onto the grinding disc. When the grinding disc comes into contact with the smoothed mortar surface, it guides the water to the smoothed mortar surface. At this time, the compacted mortar surface is evenly moistened by the nozzle.

[0059] At this point, the water spraying component of the construction robot and the grinding disc of the grinding disc adopt a compact integrated design in terms of spatial structure. Specifically, the water spraying nozzles of the water spraying component are precisely arranged in the area above the grinding disc. This layout is not a simple spatial stacking, but a collaborative operation to guide water flow. The water storage tank is fixed in the middle of the construction robot and connected to the nozzles through pipelines. When the system is started, the water flows down through the nozzles under the action of gravity or pressure and directly acts on the grinding disc directly below, realizing the physical integration of the water source and the working end.

[0060] After the water spraying assembly sprays water onto the grinding disc, the grinding disc plays a crucial role as an intermediate actuator for water flow diffusion. When water drips from the nozzle onto the surface of the high-speed rotating grinding disc, it does not directly impact the ground but is instantly captured by the grinding disc. Utilizing the powerful centrifugal force generated by the high-speed rotation of the grinding disc (the speed can be adjusted within the range of 0-3000 r / min), the water droplets adhering to the surface of the grinding disc are quickly thrown out, forming fine water mist or droplets, which then diffuse in all directions. This physical process transforms the originally linear dripping water flow into a planar spray flow, achieving the initial dispersion and guidance of the water flow, creating conditions for subsequent uniform wetting.

[0061] As the grinding disc guides and throws water out, water droplets are evenly distributed across the mortar surface that has just been compacted by the tracks. Due to the rotation of the grinding disc, water spraying is no longer limited to a single point but can cover the area within the rotation radius of the grinding disc. At this time, the controller precisely controls the opening and closing of the switch valve and the flow rate of the flow valve to ensure that the amount of water sprayed per unit area strictly follows the construction parameter settings (e.g., 0.5L / m²). This operation method avoids the problems of uneven water volume and mortar erosion that are common in traditional manual watering, effectively ensuring that the compacted mortar surface is adequately and evenly moistened, providing the best surface humidity environment for the subsequent finishing process.

[0062] Specifically, in the construction scenario of a 10m x 10m room, the tracked components of the construction robot have completed the compaction of the ground. As the robot moves to the central area of ​​the room, the grinding disc 50 located below the rear of the robot begins to rotate at high speed. At the same time, the two nozzles located directly above the grinding disc are turned on, and the water in the water tank drips at a constant flow rate under the control of the flow valve, directly hitting the surface of the rotating grinding disc.

[0063] Assuming the current rotation speed of the grinding disc is set to 1000 r / min, after the water droplets from the water spraying component 30 come into contact with the surface of the grinding disc, they are immediately subjected to centrifugal force and are thrown out rapidly along the radial direction of the grinding disc; the water droplets disperse into tiny water beads in the air, forming a uniform water curtain covering the mortar ground below.

[0064] Through this centrifugal diffusion method, the compacted dry mortar surface is quickly covered with a uniform water film. This uniform wetting not only avoids peeling caused by local over-wetting, but also prevents local over-drying from affecting the subsequent finishing effect. During the continuous movement of the robot, the water spraying component works in conjunction with the grinding disc to ensure that the floor moisture of the entire room is highly consistent, laying the foundation for the subsequent slurry lifting and finishing treatment.

[0065] Furthermore, the grinding disc rotates at high speed under the drive motor to perform slurry lifting and finishing on the water-sprayed mortar surface. The drive motor is a variable frequency speed control motor, which can adjust the speed of the grinding disc according to the grade of mortar and the construction environment. At the same time, the drive motor drives the grinding disc to rotate, the lifting cylinder controls the height of the grinding disc, the linear guide rail guides the up and down movement of the grinding disc, and the protective cover is used to protect the grinding disc and the drive motor, thus introducing protection for the grinding disc and the drive motor.

[0066] At this point, the core actuator of the grinding disc is the grinding disc itself, and its rotational power comes from the grinding disc drive motor. This drive motor is a variable frequency speed control motor, which can precisely adjust the speed according to different construction needs. In step S132, the controller outputs a control signal to the drive motor, causing it to drive the grinding disc to rotate at high speed. The speed of the grinding disc can be adjusted within a wide range of 0-3000 r / min. For different grades of mortar (such as high-strength mortar which requires a higher speed to effectively lift the mortar) and different construction environment humidity, the controller can automatically or remotely adjust the motor frequency to change the grinding disc speed, thereby ensuring the best effect of mortar lifting and finishing operations.

[0067] The high-speed rotation of the grinding disc applies mechanical energy to the wetted mortar surface, completing two key processes: slurry raising and finishing. During the rotation, the surface of the grinding disc rubs against the mortar surface, squeezing the slurry inside the mortar to the surface (slurry raising), filling tiny gaps and forming a dense cement slurry layer. Then, the smooth and wear-resistant surface of the grinding disc finely polishes this slurry layer, making the surface flat and smooth (finishing). This process achieves the simultaneous completion of slurry raising and finishing, effectively improving the density and smoothness of the surface, and ensuring that the surface is free of bubbles and scratches.

[0068] The height adjustment of the grinding disc 50 adopts a control strategy that combines lifting electric cylinder and gravity descent. Before construction begins or in non-operational state, the lifting electric cylinder raises the grinding disc to a safe position. In the S132 operating state, the grinding disc 50 descends naturally under its own gravity, so that its surface is in close contact with the watered mortar ground. This "gravity contact" mechanism ensures that the grinding disc applies a constant and appropriate pressure to the ground, which can ensure the mortar lifting effect and avoid damage to the mortar surface due to excessive pressure. When the robot needs to move or finish the operation, the lifting electric cylinder moves again to lift the grinding disc off the ground.

[0069] To ensure the stability of the grinding disc during its vertical movement, the system is equipped with linear guides. The grinding disc assembly moves up and down along the linear guides to prevent deviation or swaying during high-speed rotation and gravity descent, thus ensuring the verticality accuracy of the operation. At the same time, a protective cover is installed outside the grinding disc and drive motor. When the grinding disc rotates at high speed and throws out slurry and water mist, it plays an effective physical isolation role, preventing slurry splashing and contaminating other parts of the robot or affecting the surrounding environment. It also protects the drive motor from mortar and water corrosion, extending the service life of the equipment.

[0070] Specifically, in a 10m x 10m room construction scenario, the construction robot has completed the water spraying and wetting process. Based on the grade of the mortar in the room (assuming it is C25), the controller sets the speed of the grinding disc drive motor to 1000r / min. After receiving the instruction, the drive motor drives the 130mm diameter grinding disc to rotate at high speed and begins to grind the wet mortar surface.

[0071] The high-speed rotating grinding disc 50 rubs against the mortar surface, fully lifting the slurry below the mortar layer and quickly smoothing and polishing the surface. As the robot moves, the grinding disc continues to work, making the ground smooth and clean wherever it passes. At the same time, during the operation, the lifting cylinder is in a non-stressed state, and the grinding disc slowly falls along the linear guide rail under its own gravity, pressing firmly onto the mortar ground. This adaptive fit ensures that even if there are slight undulations in the ground, the grinding disc 50 can still make close contact, ensuring the consistency of the polishing quality. The protective cover is used to protect the grinding disc and the drive motor.

[0072] refer to Figure 5 In step S14, the specific steps are as follows:

[0073] S141: The construction robot performs left and right movements through the dual-leg straddling component, crossing from a smoothed mortar surface to another smoothed mortar surface in the left and right direction, and preparing for the track compaction of the next construction cycle; at the same time, the construction robot uses the track to complete forward and backward movements, combined with the preset step distance of the dual-leg straddling component, to realize the robot's left and right movement on the smoothed mortar surface.

[0074] S142: The dual-legged stepping assembly and the tracks are driven by variable frequency speed control motors. The coordinated work of the two not only constitutes a compaction system, but also enables the construction robot to move in all directions on the mortar surface, thereby adapting to construction areas of different shapes and sizes. Furthermore, the construction robot moves forward through the dual-legged stepping assembly, allowing the tracks to compact another leveled mortar surface. As the construction robot moves, the subsequent watering and finishing processes are carried out in sequence, realizing continuous operation of multiple processes.

[0075] In the embodiments of this application, the construction robot performs left and right movements through the dual-leg straddling component 40, crossing from a smoothed mortar surface to another smoothed mortar surface in the left and right direction, and preparing for the track compaction of the next construction cycle; at the same time, the construction robot uses the track to complete forward and backward movements, combined with the preset step distance of the dual-leg straddling component, to realize the robot's left and right movement on the smoothed mortar surface, thus introducing the robot's left and right movement on the smoothed mortar surface.

[0076] At this point, after completing the finishing work in the current area, the construction robot needs to adjust its position to proceed with the construction of the next area. This is where the dual-leg stepping component plays a crucial role in lateral movement. As an important part of the chassis, the dual-leg stepping component performs left and right movements through its unique stepping mechanism. Specifically, the device drives the leg mechanism to perform a cycle of lifting, lateral movement, and lowering through a drive motor, enabling the construction robot to smoothly cross from a finished mortar surface to an adjacent, leveled mortar surface. This crossing action avoids the rotational shearing damage that the tracks may cause to the finished surface when turning in place, ensuring the quality of the completed area.

[0077] The movement of the dual-legged stepping assembly is not random, but based on preset step distance parameters. The step distance of the dual-legged stepping assembly is 60mm, which matches the leveling width of the front auger and the compaction width of the track. The controller precisely controls the distance of each lateral movement of the dual-legged stepping assembly to the preset step distance (e.g., 60mm). While the dual-legged stepping assembly is performing lateral movement or after it has moved into position, the construction robot uses the track assembly to complete fine-tuning or propulsion movements in the forward and backward directions. By combining the lateral displacement of the dual-legged stepping assembly with the forward and backward movement of the track, the robot achieves omnidirectional movement on the mortar surface, accurately positioning itself at the starting position of the next construction zone, preparing for the subsequent track compaction process.

[0078] Once the bipedal straddling assembly moves the construction robot to a new construction location (i.e., another leveled mortar surface), the robot immediately enters the preparation state for the next construction cycle. At this time, the track assembly is positioned above the mortar area to be compacted. The controller coordinates the status of each system to ensure uniform grounding of the tracks, preparing for compaction work on this new area. This posture adjustment process ensures the continuity of intelligent control of multiple processes, allowing processes such as leveling, compaction, watering, and finishing to be carried out sequentially in adjacent areas, avoiding construction blind spots or excessive overlap.

[0079] Specifically, in a 10m x 10m room construction scenario, the construction robot has completed the leveling, compaction, watering, and finishing work of the first row (assuming the width direction). The controller issues a command, and the two-legged stepping component 40 is activated. Its stepping mechanism lifts the robot body and moves it to the left by a preset step distance of 60mm, translating the robot as a whole to the adjacent area to be constructed. This action ensures that the robot can move from the finished smooth surface to the surface to be leveled without damaging the finished surface.

[0080] After completing the lateral step, the track assembly 20 starts, driving the robot to make minor adjustments forward or prepare for the next round of forward operation; at this time, the double-leg stepping assembly 40 works in coordination with the track assembly 20 to ensure that the robot is on the correct working trajectory; after the robot completes the shift, its bottom track covers the mortar ground that has just been leveled by the front auger 10 (which acts on the new area as the robot moves); the robot then starts a new round of S12 steps, and the track begins to compact this newly leveled 60mm wide strip, realizing the continuous extension of the multi-process intelligent control method in space.

[0081] Furthermore, the dual-legged stepping assembly 40 and the tracks are driven by variable frequency speed control motors. Their coordinated work not only constitutes a compaction system, but also enables the construction robot to move omnidirectionally on the mortar surface, thereby adapting to construction areas of different shapes and sizes. Furthermore, as the construction robot moves forward through the dual-legged stepping assembly 40, the tracks can compact another leveled mortar surface. As the construction robot moves, the subsequent watering and finishing processes are carried out in sequence, realizing continuous operation of multiple processes and introducing continuous operation of multiple processes.

[0082] At this point, the dual-legged stepping assembly 40 and the track assembly 20 are each equipped with an independent variable frequency speed control drive motor. This dual-power redundancy and collaborative design not only constitutes the core of the compaction system, but also endows the construction robot with omnidirectional movement capability in complex construction environments. The track assembly 20 is mainly responsible for longitudinal movement in the forward and backward directions, and achieves smooth propulsion by adjusting the motor speed. The dual-legged stepping assembly 40 is responsible for lateral stepping movement in the left and right directions. The controller coordinates the output frequency and torque of the two drive units to realize a composite motion trajectory of "longitudinal propulsion + lateral translation", enabling the robot to flexibly adapt to construction areas of different shapes and sizes, such as rectangles and irregular shapes, and ensure that the construction process is covered without blind spots.

[0083] After completing the lateral step in step S141, step S142 focuses on guiding the robot into a new construction cycle. The construction robot performs forward movement through the dual-leg stepping component. This movement propels the robot forward, allowing the track component at the bottom to precisely cover another leveled but uncompacted mortar surface. Due to the precise step distance control capability of the dual-leg stepping component (such as a 60mm step distance), combined with the rolling contact of the track, the robot can compact adjacent areas with a preset overlap width. This combination of "stepping + track" movement ensures a tight connection between adjacent construction zones and avoids problems such as missed compaction or excessive repeated compaction.

[0084] As the construction robot moves into the new area, step S142 enables automated continuous operation of multiple processes. When the tracked assembly 30 completes longitudinal movement and compaction of the new area, the water spraying assembly 30 in the middle of the construction robot and the grinding disc at the rear follow. The water spraying assembly evenly wets the newly compacted ground, and the grinding disc following behind uses its own gravity to adhere to the wetted mortar surface, simultaneously completing the slurry lifting and finishing processes. This process requires no manual intervention or equipment shutdown and switching. The five processes (leveling, compaction, water spraying, slurry lifting, and finishing) are carried out continuously along the time and space sequence on the same robot platform, greatly improving construction efficiency and quality consistency.

[0085] Specifically, in a 10m x 10m room construction scenario, the construction robot has moved laterally to a new construction strip using its dual-leg straddle component. There is an irregular protruding area in the corner of the room that conventional equipment cannot approach. The construction robot utilizes the variable frequency speed-regulating motors of the dual-leg straddle component and the track component for coordinated drive. By fine-tuning the straddle distance and track speed, it achieves diagonal movement and attitude fine-tuning, successfully adjusting the robot to the optimal construction path and ensuring coverage of the area.

[0086] The robot performs forward movement through its two-legged stepping components, causing the track 40 to roll. The track precisely presses over a new 60mm wide strip of mortar that has just been leveled by the front auger. The coordinated control of the controller ensures a high degree of speed and positional matching between the track compaction operation and the preceding leveling operation.

[0087] As the robot continues to move forward, the compacted mortar surface passes through the water spraying unit and the grinding disc in sequence; the water sprayed from the nozzles is evenly sprayed onto the ground by the centrifugal force of the grinding disc, and then the grinding disc polishes and smooths the wet ground; at this point, the robot has completed all the integrated construction processes of this strip and immediately puts it into the next cycle of operation, with a construction efficiency of 80㎡ / h.

[0088] This invention provides a multi-process intelligent control system for a construction robot, which is applied to the aforementioned multi-process intelligent control method for construction robots.

[0089] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A multi-process intelligent control method for a construction robot, characterized in that, include: The construction robot receives the laser line deviation signal output by the laser level based on the laser receiver, determines the auger's action based on the analysis of the laser line deviation signal, and triggers the auger's adjustment so that the auger can scrape the mortar floor along the laser line trajectory emitted by the laser level. The construction robot integrates an auger, tracked assembly, sprinkler assembly, and bipedal straddling assembly. During the movement of the construction robot, it moves forward and backward via the tracked assembly and compacts the leveled mortar surface based on the tracks. The construction robot sprays water onto the compacted mortar surface using a water spraying component, and triggers the finishing of the watered mortar surface based on the rotation of the grinding disc. At the same time, the grinding disc adheres to the watered mortar surface under its own weight. The construction robot's two-legged straddling components, combined with its tracks, enable the robot to move left and right on a smoothed mortar surface. This allows the robot's tracks to compact another smoothed mortar surface, and then proceed with subsequent watering and smoothing processes on that surface, thus achieving multi-process intelligent control of the construction robot.

2. The multi-process intelligent control method for construction robots according to claim 1, characterized in that, The construction robot receives the laser line deviation signal output by the laser level via a laser receiver, determines the auger's movement based on the analysis of this signal, and triggers the auger's adjustment, causing it to scrape the mortar surface along the laser line trajectory emitted by the laser level, including: During mortar floor construction, a laser level is marked and installed in a suitable location in the construction area. The laser level emits a horizontal laser line during operation. A laser receiver is mounted on top of the construction robot. The laser receiver captures the laser line deviation signal output by the laser level and transmits the laser line deviation signal to the controller of the construction robot.

3. The multi-process intelligent control method for construction robots according to claim 2, characterized in that, The construction robot receives the laser line deviation signal output by the laser level via a laser receiver, determines the auger's movement based on the analysis of this laser line deviation signal, and triggers the auger's adjustment so that the auger performs a scraping operation on the mortar floor along the laser line trajectory emitted by the laser level. The robot also includes: The controller of the construction robot analyzes the laser line deviation signal and outputs the auger's motion content. At this time, the auger's motion content includes the required lifting height and rotation speed. Based on the required lifting height and rotation speed, the controller controls the auger drive motor and the up and down motors to make the auger smooth the mortar ground along the laser line trajectory. At the same time, the controller monitors the laser line deviation value and the auger's status in real time and makes dynamic adjustments based on the actual situation, continuously optimizing the auger's parameter settings. At this time, by feeding back the lifting and rotation information of the auger to the laser receiver, a closed-loop control is formed.

4. The multi-process intelligent control method for construction robots according to claim 1, characterized in that, The construction robot integrates an auger, a track assembly, a water spraying assembly, and a two-legged straddling assembly. During its movement, the robot moves forward and backward via the track assembly and compacts the leveled mortar surface using the tracks, including: The construction robot integrates an auger, track assembly, sprinkler assembly, and bipedal straddling assembly. The track assembly is located at the bottom of the construction robot, and the track assembly drives the construction robot to move in the forward and backward direction by rotating the tracks.

5. The multi-process intelligent control method for construction robots according to claim 4, characterized in that, The construction robot integrates an auger, a track assembly, a water spraying assembly, and a two-legged straddling assembly. During its movement, the robot moves forward and backward via the track assembly and compacts the leveled mortar surface using the tracks. It also includes: During rotation, the track continuously contacts the leveled mortar surface and compacts it. The controller adjusts the track speed to match the leveling speed to ensure compaction. At the same time, the controller sets the track speed according to construction requirements to ensure that the ground density meets the design requirements.

6. The multi-process intelligent control method for construction robots according to claim 1, characterized in that, The construction robot sprays water onto the compacted mortar surface using a water-spraying component, and triggers a finishing process on the watered mortar surface based on the rotation of the grinding disc. Simultaneously, the grinding disc adheres to the watered mortar surface under its own weight, including: The water spraying component and the grinding disc of the construction robot are in the same space. The water spraying component sprays water onto the grinding disc. When the grinding disc comes into contact with the smoothed mortar surface, it guides the water to the smoothed mortar surface. At this time, the compacted mortar surface is evenly moistened by the nozzle.

7. The multi-process intelligent control method for construction robots according to claim 6, characterized in that, The construction robot sprays water onto the compacted mortar surface using a water-spraying component, and triggers a finishing process on the watered mortar surface based on the rotation of the grinding disc. Simultaneously, the grinding disc adheres to the watered mortar surface under its own weight. The system also includes: The grinding disc rotates at high speed under the drive of the motor to lift and smooth the mortar surface that has been sprayed with water. The drive motor is a variable frequency speed control motor, which can adjust the speed of the grinding disc according to the grade of mortar and the construction environment. At the same time, the drive motor drives the grinding disc to rotate, the lifting cylinder controls the height of the grinding disc, the linear guide rail guides the up and down movement of the grinding disc, and the protective cover is used to protect the grinding disc and the drive motor.

8. The multi-process intelligent control method for construction robots according to claim 1, characterized in that, The construction robot's bipedal straddling assembly, in conjunction with its tracks, enables lateral movement on a smoothed mortar surface. This allows the robot's tracks to compact another smoothed mortar surface, and then sequentially perform subsequent watering and smoothing processes on that surface. This multi-process intelligent control of the construction robot includes: The construction robot uses its dual-leg straddle assembly to perform left-right movements, crossing from a smoothed mortar surface to another smoothed mortar surface, preparing for the track compaction in the next construction cycle. At the same time, the construction robot uses its tracks to perform forward and backward movements, combined with the preset step distance of the dual-leg straddle assembly, to enable the robot to move left and right on the smoothed mortar surface.

9. The multi-process intelligent control method for construction robots according to claim 8, characterized in that, The construction robot's bipedal straddling assembly, in conjunction with its tracks, enables the robot to move left and right on a smoothed mortar surface. This allows the robot's tracks to compact another smoothed mortar surface, and then sequentially perform subsequent watering and smoothing processes on that surface. This achieves multi-process intelligent control of the construction robot, and also includes: The dual-legged stepping assembly and tracks are driven by variable frequency speed control motors. Their coordinated work not only forms a compaction system, but also enables the construction robot to move omnidirectionally on the mortar surface, thus adapting to construction areas of different shapes and sizes. Furthermore, as the construction robot moves forward through the dual-legged stepping assembly, the tracks can compact another leveled mortar surface. As the construction robot moves, subsequent watering and finishing processes are carried out in sequence, realizing continuous operation of multiple processes.

10. A multi-process intelligent control system for a construction robot, characterized in that, The multi-process intelligent control system for the construction robot is applied to the multi-process intelligent control method for the construction robot as described in any one of claims 1-9.

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