A waterproofing membrane laying device for construction work

Abstract

The application discloses a waterproof roll material paving device for building engineering, which comprises a mobile chassis, a base surface treatment device, a roll material storage and feeding device, a paving execution device and a hot melting and quality inspection device, and a control system.The base surface treatment device comprises a laser scanner, a rotary brush, a negative pressure dust collector and a repairing mechanical arm.The roll material storage and feeding device comprises a roll-out bin, a conveying roller, a heating cavity, a heating module and a deviation rectifying roller group.The paving execution device comprises a multi-axis cooperative mechanical arm, a positioning system and an adaptive roller pressing group.The hot melting and quality inspection device comprises a hot air spray gun, a cooling and shaping mechanism, a multi-spectrum sensor and a marking spray head.The control system comprises a lithium battery unit and a human-computer interaction panel for supplying power to the device.The base surface treatment device, the roll material storage and feeding device, the paving execution device and the hot melting and quality inspection device are electrically connected with the control system.The application constructs a full-automatic waterproof roll material paving system, which can fundamentally solve the quality problems of paving mispositioning, bubble residue and poor adhesion existing in traditional manual construction, and realizes digital and precise quality management.

Description

Technical Field

[0001] This application belongs to the field of building waterproofing construction technology, and in particular relates to an intelligent building engineering waterproof membrane laying equipment, which is used to replace traditional manual membrane laying operations. Background Technology

[0002] In current building waterproofing projects, the installation of roll materials relies entirely on manual operation, which has systemic defects, specifically: (1) Manual positioning deviations cause the roll material overlap misalignment error to generally exceed 5mm, damaging the continuity of the waterproof layer; uneven pressure from workers causes the residual air bubble rate to be as high as 15%-20%, leading to leakage and hollowing; when the flame gun softens the roll material, the temperature fluctuation exceeds +50℃, the bonding strength decreases by more than 30%, and the construction quality is poor. (2) A roll material weighing more than 30kg requires 2-3 people to carry and install, with an average daily construction area of ​​less than 200㎡. The segmented operation of the process leads to an ineffective waiting time of more than 40%, resulting in low construction efficiency. (3) Open-type gas flame gun operation causes fire accidents to account for 25% of accidents on the construction site; the concentration of benzo[a]pyrene in the hot melt asphalt fumes exceeds the occupational limit by 8-10 times, seriously endangering the health of workers and posing a significant safety risk. (4) Differences in worker skills cause bond strength fluctuations of up to 50%, requiring a large amount of quality inspection manpower for full inspection. The authenticity of manually recorded parameters such as temperature and number of rolling cycles is questionable, and quality problems cannot be traced back to their source, resulting in high management costs. These defects stem from primitive processes, discrete data, and extensive control, and urgently require a systematic solution that integrates high-precision positioning, closed-loop temperature control, and real-time quality feedback through intelligent equipment. Summary of the Invention

[0003] This application provides a waterproof membrane laying device for building engineering, which solves the technical problems of low precision, high safety hazards and low efficiency of existing manual laying operations.

[0004] To solve at least one of the above-mentioned technical problems, the technical solution adopted in this application is:

[0005] A waterproof membrane laying device for building engineering includes:

[0006] The mobile chassis has wheels at the bottom and a mounting platform at the top;

[0007] The base surface treatment device, installed at the front of the mobile chassis, includes a laser scanner for scanning the base surface, a rotating brush and a negative pressure vacuum cleaner for cleaning the base surface, and a repair robotic arm for repairing defects in the base surface.

[0008] The roll material storage and conveying device is installed in the middle of the mobile chassis and includes an unwinding bin for accommodating the roll material, conveying rollers for conveying the roll material, a heating chamber for heating the roll material, a heating module disposed in the heating chamber, and a set of guiding rollers.

[0009] The laying execution device is installed on the mobile chassis and located behind the roll material storage and conveying device, including a multi-axis robotic arm for gripping and laying the roll material, a positioning system for positioning, and a roller group for pressing the roll material.

[0010] The hot-melt and quality inspection device, installed behind the laying execution device, includes a hot air spray gun for joint bonding, a cooling and shaping mechanism for accelerating curing, a multispectral sensor for quality inspection, and a marking nozzle for marking defects.

[0011] The control system, integrated into the mobile chassis, includes a lithium battery unit that powers the equipment and a human-machine interface panel for centralized control and display.

[0012] The substrate treatment device, the roll material storage and conveying device, the laying execution device, and the hot melt and quality inspection device are all electrically connected to the control system.

[0013] Furthermore, the rear of the mobile chassis is provided with a vertical frame, the upper part of which is provided with a handrail, the connection between which is provided with a wire groove, and an emergency stop switch is provided on the side of the vertical frame.

[0014] The human-computer interaction panel is fixed between the handrail and the vertical frame;

[0015] The mobile chassis has front steering wheels and rear steering wheels.

[0016] Furthermore, the repair robotic arm is a four-axis robotic arm, including a rotating shaft, a main robotic arm rod, and an end effector, wherein the end effector integrates a hot air gun and a caulking gun.

[0017] Furthermore, the unwinding bin of the coil material storage and conveying device has a conveying roller assembly at its inlet; and the straightening roller assembly, heating chamber, and coil material conveying port are sequentially arranged at its outlet; the straightening roller assembly and the coil material conveying port form a slope to guide the coil material.

[0018] Furthermore, the end of the multi-axis robotic arm is equipped with a vacuum suction cup and a pressure feedback system; the positioning system is located at both ends of the mobile chassis and includes a stereo camera and an environmental perception camera.

[0019] Furthermore, the roller press assembly includes extrusion rollers with a silicone coating and a hydraulic lifting shaft that drives their lifting and lowering.

[0020] Furthermore, in the hot melt and quality inspection device, the hot air spray gun is installed at the hot melt control module via a rotatable folding shaft, and its spray direction is adjustable; the cooling and shaping mechanism is a composite structure of semiconductor refrigeration and air cooling.

[0021] Furthermore, the multispectral sensor is a sensor array combining infrared thermal imaging and ultrasonic flaw detection; the marking nozzle is a fluorescent paint nozzle, which is mounted on the defect marking control module via a rotatable folding shaft, and its spraying direction is adjustable.

[0022] Furthermore, along the roll material laying process flow, the substrate treatment device, roll material storage and conveying device, laying execution device, and hot melt and quality inspection device are arranged sequentially from front to back on the mobile chassis.

[0023] Furthermore, the human-computer interaction panel is a touch screen and integrates a positioning module.

[0024] This application designs a waterproof membrane laying device for building engineering, constructing a fully automated waterproof membrane laying system that achieves integrated operation throughout the entire process, from intelligent substrate treatment, constant tension conveying and preheating of the membrane, millimeter-level precise positioning and laying, to adaptive rolling and air venting and closed-loop temperature-controlled heat fusion joints. This equipment fundamentally solves the quality problems of traditional manual construction, such as misalignment, air bubble residue, and weak adhesion, improving construction efficiency and completely eliminating the safety hazards of open flame operations. All construction parameters are recorded in real time and can be traced in the cloud, achieving digital and precise quality management. Attached Figure Description

[0025] Figure 1 This is a structural schematic diagram of a waterproof membrane laying device for building engineering according to this application;

[0026] Figure 2 This is a top view of the structure of a waterproof membrane laying device for building engineering according to this application;

[0027] Figure 3 This is a flowchart of a method for laying waterproof membrane in building engineering, as described in this application.

[0028] In the picture:

[0029] 10. Mobile chassis; 20. Base surface treatment device; 21. Laser scanner

[0030] 22. Rotating brush 23. Negative pressure vacuum cleaner 24. Repair robotic arm

[0031] 241. Rotating shaft 1; 242. Main rod of robotic arm 1; 243. End effector 1

[0032] 25. Repair control module; 30. Roll material storage and conveying device; 31. Unwinding bin.

[0033] 32. Conveying roller assembly; 33. Correcting roller assembly; 34. Heating chamber

[0034] 35. Roll material conveyor port; 36. Roll material; 40. Laying execution device.

[0035] 41. Multi-axis robotic arm; 411. Rotary shaft two; 412. Main rod of robotic arm two.

[0036] 413. End effector II; 42. Positioning system; 43. Roller assembly

[0037] 431. Extrusion roller; 432. Hydraulic lifting shaft; 44. Laying control module

[0038] 50. Hot melt and quality inspection device; 51. Hot air spray gun; 52. Cooling and shaping mechanism.

[0039] 53. Multispectral sensor; 54. Marking nozzle; 55. Thermal melt control module

[0040] 56. Defect marking control module; 60. Control system; 61. Lithium battery unit

[0041] 62. Human-computer interaction panel; 63. Vertical frame; 64. Handrail

[0042] 65. Cable tray 66. Emergency stop switch Detailed Implementation

[0043] The present application will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0044] This embodiment proposes a method for laying waterproof membrane in building engineering, such as... Figure 1-2 As shown, the system includes a mobile chassis 10 with wheels at the bottom and a control system 60, wherein the top plane of the mobile chassis 10 forms an installation platform. Along the direction of the roll material laying process, a substrate treatment device 20, a roll material storage and conveying device 30, a laying execution device 40, and a hot-melt and quality inspection device 50 are arranged sequentially from front to back on the mobile chassis 10; and the substrate treatment device 20, the roll material storage and conveying device 30, the laying execution device 40, and the hot-melt and quality inspection device 50 are all electrically connected to the control system 60.

[0045] The mobile chassis 10 is welded from high-strength alloy steel, with crisscrossing wiring grooves on its upper surface and an electromagnetic interference shielding layer on its bottom. The mobile chassis 10 has four steering wheels, including two front steering wheels and two rear steering wheels with independent intelligent functions. All four steering wheels are equipped with a multi-modal fusion navigation controller to achieve a steering accuracy of ±1°.

[0046] A vertical frame 63 is provided at the rear of the mobile chassis 10. A handrail 64 is provided at the upper part of the vertical frame 63. A cable tray 65 is provided at the connection between the vertical frame 63 and the mobile chassis 10. An emergency stop switch 66 is provided on the side of the vertical frame 63. The emergency stop switch 66 is electrically connected to the chassis tilt sensor and cuts off the power output within 0.2 seconds after being triggered. The vertical frame 63 can be a C-shaped hollow fence-like frame structure or a flat plate structure. It and the cable tray 65 adopt a modular quick-release structure design. The cable tray 65 is filled with a bend-resistant shielded cable, and the wiring meets the IP67 protection level.

[0047] The control system 60 is integrated onto the mobile chassis 10, including a lithium battery unit 61 that powers the equipment and a human-machine interface panel 62 for centralized control and display. The lithium battery unit 61 is a high-density lithium battery pack that supports fast charging and wireless charging, providing a working time of ≥10 hours on a single full charge. The human-machine interface panel 62 is a touchscreen with a built-in AI chip and integrates a BeiDou / GNSS dual-mode positioning module, capable of displaying real-time equipment operating data, including temperature, pressure, positioning coordinates, and quality inspection reports. The human-machine interface panel 62 is fixed between the armrest 64 and the vertical frame 63.

[0048] The substrate processing device 20 is installed at the front of the mobile chassis 10 and includes a laser scanner 21 for scanning the substrate, a rotating brush 22 and a negative pressure vacuum cleaner 23 for cleaning the substrate, a repair robotic arm 24 for repairing defects in the substrate, and a repair control module 25 for controlling the repair robotic arm 24. The rotating brush 22 is positioned near its end, and the negative pressure vacuum cleaner 23 is located inside the rotating brush 22. The rotating brush 22 and the negative pressure vacuum cleaner 23 are located on the lower surface of the mobile chassis 10, forming a substrate dust removal system; that is, debris on the substrate is first swept away, and then processed by the negative pressure vacuum cleaner 23. The laser scanner 21 is positioned on the upper surface of the mobile chassis 10 and near its front end, vertically suspended, for acquiring substrate graphics and generating a three-dimensional point cloud model of the substrate.

[0049] The substrate treatment device 20 also includes a defect marking control module 56 mounted on the mobile chassis 10. This module is connected to the repair robotic arm 24 and controls its operation. The defect marking control module 56 is positioned on the central axis of the mobile chassis 10, near the laser scanner 21. The repair robotic arm 24 is a four-axis robotic arm, including a rotating shaft 241, a main robotic arm 242, and an end effector 243. The end effector 243 integrates a hot air gun and a caulking gun, with a hot air temperature adjustable range of 50-300℃.

[0050] The roll material storage and conveying device 30 is installed in the middle of the mobile chassis and includes an unwinding bin 31 for accommodating the roll material, a conveying roller assembly 32 for conveying the roll material, a heating chamber 34 for heating the roll material, a heating module disposed in the heating chamber 34, and a guide roller assembly 33. The unwinding bin 31 has a conveying roller assembly 32 at its inlet; its outlet has a guide roller assembly 33, a heating chamber 34, and a roll material 36 conveying port arranged in sequence. The guide roller assembly 33 forms a slope with the roll material conveying port 35 to guide the roll material 36 at an incline, and the guide roller assembly 33 has a guide accuracy of ±0.5mm.

[0051] The roll material 36 is placed in the unwinding bin 31, and its laying transmission direction is as follows: Figure 1 As shown by the solid black line in the middle. The intelligent unwinding bin 31 has a built-in servo motor that drives the roll conveyor roller assembly 32 to output the roll material 36. The roll material 36 is drawn out from the unwinding bin 31, passes through the conveyor roller assembly 32 and the correction roller assembly 33 in sequence, and is conveyed through the roll material transfer port 35 to the bottom surface of the mobile chassis 10. Then, it is laid onto the base surface by the extrusion rollers 431 on the roller pressing assembly 43. In this transmission direction, during its passage through the conveyor roller assembly 32 and the correction roller assembly 33, it is softened by the infrared radiation heating module in the heating chamber 34, and then guided to the roll material transfer port 35 on an inclined slope. It is then blown by the hot air spray gun 51 and shifted towards the side closer to the extrusion rollers 431, which is more conducive to the extrusion rollers 431 pressing the roll material 36 and laying it on the base surface. The temperature control accuracy of the heating module is ±3℃. After being heated, the roll material is guided to the laying position through the roll material transfer port 35 after passing through the inclined slope. Preferably, a cutter for cutting the roll 36 is also provided at the roll conveyor 35. This is a conventional structure, and the accompanying drawings are omitted here.

[0052] The laying execution device 40 is mounted on the mobile chassis 10 and located behind the roll material storage and conveying device 30. It includes a multi-axis robotic arm 41 for gripping and laying the roll material, a positioning system 42 for positioning, and a roller group 43 for rolling the roll material 36. The laying control module 44 is located on one side along the length of the mobile chassis 10. The multi-axis robotic arm 41 is fixedly mounted on the laying control module 44. It is a six-axis cooperative robotic arm, including six main robotic arm rods 412, a rotating shaft 411 for connecting adjacent main robotic arm rods 412, and an end effector 413 located at its end. The end effector 413 includes a vacuum suction cup and a pressure feedback system. The suction force of the vacuum suction cup is adjustable from 0.05 to 0.5 MPa. The positioning system 42 is a three-dimensional visual positioning system, which is set at both ends of the mobile chassis 10. It includes a binocular stereo camera and an environmental perception camera. It integrates the environmental perception camera and LiDAR data, and the positioning error is ≤1mm. It also combines AI image recognition algorithm to locate the paving trajectory at regular intervals.

[0053] The roller pressing unit 43 is an adaptive roller pressing unit, which includes an extrusion roller 431 with a silicone coating and a hydraulic lifting shaft 432 that drives the extrusion roller 431 to rise and fall. The air pressure of the extrusion roller 431 is adjustable and the rolling pressure can be dynamically adjusted. The roller pressing unit 43 is symmetrically arranged on both sides of the width of the movable chassis 10, and can complete the rolling and laying of the roll material 36. The adaptive roller pressing unit 43 adjusts the rolling height through the hydraulic lifting shaft 432, and the rolling pressure is 0.2-0.8MPa and continuously adjustable. The surface of the roller pressing unit 43 is coated with a high-elasticity silicone coating with a Shore hardness of 60±5HA and a pressure distribution uniformity of ≥95% on the rolling contact surface. The multispectral sensor 53 can detect the rolling area in real time and feed the data back to the central controller.

[0054] The hot-melt and quality inspection device 50 is installed behind the laying execution device 40 and includes a hot air spray gun 51 for seam bonding, a cooling and shaping mechanism 52 for accelerating curing, a multispectral sensor 53 for quality inspection, a marking nozzle 54 for marking defects, and a hot-melt control module 55. There are two hot-melt control modules 55, symmetrically arranged on both sides of the width of the movable chassis 10. Each hot-melt control module 55 is equipped with a hot air spray gun 51, which is mounted on the hot-melt control module 55 via a rotatable folding shaft. The spray direction of the hot air spray gun 51 is adjustable. The hot air spray gun 51 at the drive end performs seam bonding. The spray gun can be adjusted 180° via the rotatable folding shaft, and then the roll material seams are melted and bonded through adjustable-angle hot air spray. The cooling and shaping mechanism 52 is a semiconductor cooling and air cooling composite structure, which can accelerate the curing of the adhesive layer, with a cooling rate ≥10℃ / s. The distance between the hot air spray gun 51 and the cooling and shaping mechanism 52 is adjustable, with a minimum working distance of 50mm and a maximum extension distance of 300mm.

[0055] A multispectral sensor 53 is located between the cooling and shaping mechanism 52 and the defect marking control module 56, and both the multispectral sensor 53 and the defect marking control module 56 are fixedly mounted on the central axis of the mobile chassis 10. The multispectral sensor 53 is a composite sensor array of infrared thermal imaging and ultrasonic flaw detection. It detects air bubbles through infrared thermal imaging and the adhesion density through ultrasonic flaw detection; then, an edge AI processor analyzes the detection data in real time and generates a quality spectrum. The marking nozzle 54 is a fluorescent paint nozzle, which is mounted on the defect marking control module 56 via a rotatable folding shaft. Its spray direction is adjustable and controlled by the defect marking control module 56, allowing it to automatically spray fluorescent marks to locate defective areas. The defect marking control module 56 can control the marking nozzle 54 to spray fluorescent markings based on the detection results, with a positioning accuracy of ±2mm.

[0056] When the paving equipment is working, it first uses the laser scanner 21 in the substrate processing device 20 to collect three-dimensional point data of the substrate to build a substrate model, and combines the environment to identify obstacles and generate the optimal paving path; then it starts the rotating brush 22 and the negative pressure vacuum cleaner 23 to clean the substrate, and at the same time, the repair robotic arm 24 identifies defects on the substrate surface and performs hot air softening and grouting repair. Then, the roll material 36 is placed into the unwinding bin 31 by the multi-axis robotic arm 41 through the roll material storage and conveying device 30. The servo motor drives the roll material 36 to be conveyed through the conveying roller group 32 and the correction roller group 33 with constant tension, and the adhesive layer is softened by infrared radiation heating in the heating chamber 34 before being output. The paving execution device 40 uses a multi-axis robotic arm 41 to grasp the roll material and place it in the unwinding bin 31. Based on a binocular stereo camera in the positioning system 42, it captures the offset between the roll material edge and the planned path in real time, driving the robotic arm to perform millimeter-level position compensation in three-dimensional space. Simultaneously, the roller pressing group 43 performs multiple rolling operations with variable pressure according to the undulations of the base surface, and uses an ultrasonic sensor to detect air bubble volume and dynamically adjust the rolling parameters. The hot-melt and quality inspection device 50 uses a hot air spray gun 51 to spray at an adjustable angle to form a molten strip to complete the joint bonding. The cooling and shaping mechanism 52 accelerates curing, and a multispectral sensor 53 detects air bubbles and bonding coverage in real time, sprays fluorescent marks on defective areas, and automatically triggers secondary processing. The entire paving process is coordinated by the control system 60, which records the construction parameters and dynamically optimizes the paving process through a reinforcement learning model, achieving fully digital and precise operation.

[0057] This application designs a waterproof membrane laying device for building engineering, constructing a fully automated waterproof membrane laying system that achieves integrated operation throughout the entire process, from intelligent substrate treatment, constant tension conveying and preheating of the membrane, millimeter-level precise positioning and laying, to adaptive rolling and air venting and closed-loop temperature-controlled heat fusion joints. This equipment fundamentally solves the quality problems of traditional manual construction, such as misalignment, air bubble residue, and weak adhesion, improving construction efficiency and completely eliminating the safety hazards of open flame operations. All construction parameters are recorded in real time and can be traced in the cloud, achieving digital and precise quality management.

[0058] A method for laying waterproof membrane in building engineering, the flowchart is as follows: Figure 3 The steps include:

[0059] S1. Collect 3D point data of the base surface to build a base surface model, identify obstacles in combination with the environment, and generate the optimal paving path.

[0060] The construction substrate is scanned by a laser scanner 21 installed at the front of the mobile chassis 10 (scanning density ≥ 500 points / m²). 2The system collects 3D point data of the base surface and uses this data to build an accurate 3D model of the base surface. During the modeling process, the system simultaneously collects on-site image data through an environmental perception camera and identifies obstacles on the base surface by combining environmental information. Finally, based on the constructed base surface model and the identified obstacle information, a reinforcement learning model is used to calculate and generate an optimal motion path suitable for the multi-axis robotic arm 41 to perform the tiling task. The input parameters of this reinforcement learning model include the base surface slope, the brightness of the roll material, and the obstacle density, and its output is the smoothness coefficient η (0 < η ≤ 1) of the robotic arm's motion trajectory.

[0061] Through high-precision 3D modeling and environmental perception, an accurate path planning foundation is provided for subsequent tiling operations, enabling automatic identification and precise positioning of the tiling location. This fundamentally avoids the problem of misaligned roll material overlaps (error exceeding 5mm) caused by positioning deviations in traditional manual construction, ensuring the continuity of the waterproof layer and laying a crucial foundation for achieving zero-defect bonding. At the same time, the generated optimized path also improves the smoothness and efficiency of the robotic arm's movement.

[0062] S2. Clean the base surface, identify surface defects, and perform hot air softening and grouting repair.

[0063] The rotating brush 22 and the negative pressure vacuum cleaner 23 in the base surface treatment device 20 are activated. The rotating brush rotates at a speed of 1200 rpm to sweep away loose debris and floating dust on the base surface. At the same time, the negative pressure vacuum cleaner 23 with a negative pressure value of -5 kPa works to completely suck away the swept-up floating dust, achieving simultaneous cleaning and vacuuming to ensure the base surface is clean and cool.

[0064] After cleaning, the repair robotic arm 24, a four-axis robotic arm, handles the defects on the substrate. Its end effector 243 integrates a hot air gun and a caulking gun. For identified defects such as cracks in the substrate, the repair robotic arm 24 repairs the cracks. First, it uses a hot air gun to heat and soften the substrate material. The hot air temperature can be precisely controlled within the range of 50-300℃ to improve the activity of the substrate material and enhance the adhesion of the filler. Next, the repair robotic arm 24 switches to the caulking gun and precisely injects the filler into the softened cracks at an injection pressure of 0.2MPa, completing the filling and repair.

[0065] By linking the high-speed rotating brush 22 with the negative pressure vacuum cleaner 23, the impact of floating dust on the adhesion strength between the roll material and the substrate is completely eliminated, avoiding quality problems such as hollowing and detachment caused by unclean substrate. The repair robotic arm 24 automatically softens cracks with hot air and applies pressure adhesive to repair them, pre-filling defects in the substrate itself and preventing the waterproof layer from cracking or stress concentration caused by substrate cracking, thus fundamentally eliminating the risk of subsequent leakage.

[0066] S3. Control the unwinding of the roll material, use infrared heating to soften the adhesive layer, and perform real-time position compensation based on machine vision.

[0067] The multi-axis robotic arm 41 grips the roll material 36 and places it into the unwinding bin 31. Subsequently, a servo motor drives the roll material 36 to unfold at a constant tension of 45-55N, ensuring that the roll material is smooth and wrinkle-free. During the conveying process, the roll material passes through the heating chamber 34 and receives infrared radiation heating, which pre-softens its adhesive layer before output, preparing it for subsequent bonding and laying.

[0068] During the installation process, the machine vision-based positioning system 42 uses a binocular stereo camera to capture the offset between the edge of the roll material 36 and the optimal planned path generated in step S1 in real time, and immediately drives the multi-axis robotic arm 41 to make fine adjustments at the 0.1mm level in the X / Y / Z three-dimensional space to ensure that the roll material is accurately installed along the predetermined path.

[0069] Immediately after installation, the roll material is compacted to remove air bubbles. Roller unit 43 applies 3-5 passes of compaction to the roll material at a pressure of 0.5-0.8 MPa, depending on the unevenness of the substrate. Simultaneously, an ultrasonic sensor integrated into the equipment monitors the volume of air bubbles between the roll material 36 and the substrate in real time. If an air bubble volume > 0.3 mm is detected... 3 When the system automatically triggers the optimization mechanism, it increases the number of rolling passes by 2-4 and increases the rolling pressure by 0.1-0.3 MPa to completely eliminate air bubbles.

[0070] Step S3 also includes a hot-melt seam step, where hot air is used to treat the lap joints of the roll material. The hot air gun 51 is adjusted to spray hot air onto the roll material surface at an angle of 30-90°, forming a molten zone at 400±10°C. The system dynamically adjusts the process parameters based on the molten layer thickness fed back by the thermocouple; when the thickness is <1.2mm, the temperature is automatically increased by 10°C and the heating time is extended by 0.5s. This dynamic adjustment is based on a temperature-speed coupled control model. When the roll material conveying speed increases, the output power of the hot air gun is proportionally increased using a PD (proportional-derivative) algorithm to maintain a stable molten zone temperature.

[0071] After compaction and hot-melt bonding, real-time quality inspection and automatic repair are performed. Infrared thermal imaging sensors detect residual air bubbles, and ultrasonic flaw detection technology checks the bonding coverage (with a threshold of ≥98% for acceptance). For identified defective areas (such as air bubbles or areas of insufficient bonding), a marking nozzle sprays fluorescent markers with a diameter of 20-25mm, automatically triggering secondary processing. Secondary processing includes automatically performing localized secondary compaction on air bubble areas and reactivating the hot air spray gun for touch-up melting in areas of insufficient bonding coverage.

[0072] Step S3 also includes a safety protection step, namely, the system monitors the tilt angle of the equipment in real time; when the tilt angle of the equipment is greater than 5°, a three-level response safety mechanism is immediately triggered. The three-level response safety mechanism includes: Level 1 response, which cuts off the lithium battery power supply within 0.2 seconds; Level 2 response, which activates the automatic fire extinguishing device; and Level 3 response, which uploads the equipment positioning coordinates and operating condition data to the cloud platform via the 5G network.

[0073] Real-time position compensation based on machine vision controls the installation positioning accuracy to the 0.1mm level, completely solving the problem of misalignment errors exceeding 5mm in traditional manual construction and ensuring the continuity and integrity of the waterproof layer. Simultaneously, constant tension conveying, adaptive pressure rolling, and real-time ultrasonic detection and feedback adjustment of air bubbles efficiently eliminate air, reducing the residual air bubble rate to an extremely low level and fundamentally avoiding leakage risks caused by air bubbles. Infrared preheating and closed-loop temperature-controlled hot air welding are also employed, ensuring the adhesive layer temperature is stably controlled within the optimal range of 400±10℃, avoiding the excessive temperature fluctuations (over 30%) that can lead to a decrease in adhesive strength in traditional open flame operations, ensuring uniformity and high reliability of the bonding quality. The entire process uses infrared radiation and controllable hot air, completely avoiding the fire and health hazards associated with open-flame gas torches. Quality inspection is also integrated into the installation process, detecting defects in real time, automatically marking and immediately repairing them, achieving simultaneous detection, judgment, and processing, replacing traditional manual inspection and ensuring quality traceability.

[0074] S4. Record data throughout the entire construction process and dynamically optimize the data using a reinforcement learning model.

[0075] The system records temperature, pressure, and positioning coordinate parameters during construction and binds them to the positioning system for spatiotemporal information. It also runs a reinforcement learning model through an edge computing terminal to record temperature, pressure, and positioning deviation parameters in real time, generating a three-dimensional construction quality map.

[0076] Based on historical data, the hot melt temperature-speed matching relationship and the correlation function between compaction pressure and base surface roughness are dynamically optimized. The optimization formula is as follows:

[0077]

[0078] In the formula, P new The optimized rolling pressure is expressed in MPa; σ is the yield strength of the waterproof membrane material, expressed in MPa; Ra is the surface roughness, expressed in μm; v is the rolling speed, expressed in m / min; k1 and k2 are proportionality coefficients, where k1 is expressed in μm and k2 is expressed in MPa.

[0079] This application presents a method for laying waterproof membrane in building engineering, which can achieve precise laying to achieve zero-defect bonding; it can automatically identify the laying position, safely avoid the risks of open flame operations, and eliminate the hazards of toxic gas exposure and fire; it can also eliminate the problem of reduced bonding strength caused by misalignment, residual air bubbles, and temperature runaway; it can build a laying construction model to achieve full-process traceability, and can also be improved and learned to optimize the laying method.

[0080] The embodiments of this application have been described in detail above. These descriptions are merely preferred embodiments and should not be construed as limiting the scope of this application. All equivalent variations and modifications made within the scope of this application should still fall within the patent coverage of this application.

Claims

1. A waterproof membrane laying device for building engineering, characterized in that, include: The mobile chassis has wheels at the bottom and a mounting platform at the top; The base surface treatment device, installed at the front of the mobile chassis, includes a laser scanner for scanning the base surface, a rotating brush and a negative pressure vacuum cleaner for cleaning the base surface, and a repair robotic arm for repairing defects in the base surface. The roll material storage and conveying device is installed in the middle of the mobile chassis and includes an unwinding bin for accommodating the roll material, conveying rollers for conveying the roll material, a heating chamber for heating the roll material, a heating module disposed in the heating chamber, and a set of guiding rollers. The laying execution device is installed on the mobile chassis and located behind the roll material storage and conveying device, including a multi-axis robotic arm for gripping and laying the roll material, a positioning system for positioning, and a roller group for pressing the roll material. The hot-melt and quality inspection device, installed behind the laying execution device, includes a hot air spray gun for joint bonding, a cooling and shaping mechanism for accelerating curing, a multispectral sensor for quality inspection, and a marking nozzle for marking defects. The control system, integrated into the mobile chassis, includes a lithium battery unit that powers the equipment and a human-machine interface panel for centralized control and display. The substrate treatment device, the roll material storage and conveying device, the laying execution device, and the hot melt and quality inspection device are all electrically connected to the control system.

2. The waterproof membrane laying equipment for building engineering according to claim 1, characterized in that, The rear of the mobile chassis is provided with a vertical frame, the upper part of which is provided with a handrail, the connection between which is provided with a wire groove, and an emergency stop switch is provided on the side of the vertical frame. The human-computer interaction panel is fixed between the handrail and the vertical frame; The mobile chassis has front steering wheels and rear steering wheels.

3. A waterproof membrane laying device for building engineering according to claim 1 or 2, characterized in that, The repair robotic arm is a four-axis robotic arm, including a rotating shaft, a main robotic arm rod, and an end effector. The end effector integrates a hot air gun and a caulking gun.

4. The waterproof membrane laying equipment for building engineering according to claim 1, characterized in that, The unwinding bin of the roll material storage and conveying device has a conveying roller assembly at its inlet; and a straightening roller assembly, a heating chamber, and a roll material conveying port are sequentially arranged at its outlet; the straightening roller assembly and the roll material conveying port form a slope to guide the roll material.

5. A waterproof membrane laying device for building engineering according to any one of claims 1-2 and 4, characterized in that, The multi-axis robotic arm is equipped with a vacuum suction cup and a pressure feedback system at its end; the positioning system is located at both ends of the mobile chassis and includes a stereo camera and an environmental perception camera.

6. The waterproof membrane laying equipment for building engineering according to claim 1, characterized in that, The roller press assembly includes extrusion rollers with a silicone coating and a hydraulic lifting shaft that drives their lifting and lowering.

7. A waterproof membrane laying device for building engineering according to any one of claims 1-2, 4, and 6, characterized in that, In the hot melt and quality inspection device, the hot air spray gun is installed at the hot melt control module via a rotatable folding shaft, and its spray direction is adjustable; the cooling and shaping mechanism is a composite structure of semiconductor refrigeration and air cooling.

8. The waterproof membrane laying equipment for building engineering according to claim 1, characterized in that, The multispectral sensor is a sensor array combining infrared thermal imaging and ultrasonic flaw detection; the marking nozzle is a fluorescent paint nozzle, which is mounted on the defect marking control module via a rotatable folding shaft, and its spraying direction is adjustable.

9. A waterproof membrane laying device for building engineering according to any one of claims 1-2, 4, 6, and 8, characterized in that, Along the direction of the roll material laying process, the substrate treatment device, roll material storage and conveying device, laying execution device, and hot melt and quality inspection device are arranged sequentially from front to back on the mobile chassis.

10. A waterproof membrane laying device for building engineering according to claim 9, characterized in that, The human-computer interaction panel is a touch screen and integrates a positioning module.

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