A masonry method, masonry system and masonry robot

Abstract

The invention provides a masonry method, a masonry system and a masonry robot, and relates to the field of construction. The masonry method includes the following steps: S1, positioning the masonry robot to the working position of the masonry wall; S2, calibrating the three-dimensional position of the masonry robot relative to the masonry wall and the inclination angle relative to the horizontal plane, so as to calibrate the masonry robot relative to the masonry wall. pose of the building wall; S3, the execution manipulator of the masonry robot obtains the pose of the work object. The masonry system includes a light emitter and a light detection component. One of the light emitter and the light detection component is set on the ground, and the other is set on the masonry robot. The light emitter can move along the horizontal direction of the masonry wall. The extending direction emits light toward the light detection component and can form a line shadow on the ground. The light detection component is used to detect the position change of the image of the light on the light detection component and the position change of the line shadow. The masonry robot includes the above-mentioned masonry system.

Description

technical field [0001] The invention relates to the technical field of construction, in particular to a masonry method, a masonry system and a masonry robot. Background technique [0002] 80% of the existing interior walls are in the form of masonry. The masonry of interior walls includes plastering and bricklaying processes. Traditional interior wall masonry uses manual operations to complete all processes. However, manual operations not only have the disadvantages of high labor intensity, low efficiency, and poor operating environment conditions. Moreover, the operation cost is high, and the engineering quality and worker safety are not easy to guarantee. The emergence of masonry robots solves the above problems. However, the existing masonry robots have low masonry accuracy and cannot meet the requirements of masonry accuracy. SUMMARY OF THE INVENTION [0003] The purpose of the present invention is to provide a masonry method and a masonry system, which can improve t...

AI Technical Summary

Problems solved by technology

Masonry interior walls include plastering and bricklaying processes. Traditional interior wall masonry uses manual operations to complete all processes. However, manual operations not only have the disadvantages of high labor intensity, low efficiency, and poor working environment conditions, Moreover, the operating cost is high, and the quality of the project and the safety of workers are not easy to guarantee

The emergence of masonry robots has solved the above problems. However, the existing masonry robots have low masonry precision and cannot meet the requirements of masonry precision.

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