机器人
门
自动化
工程类
航程(航空)
激光跟踪器
移动机器人
工业机器人
模拟
计算机科学
计算机视觉
人工智能
激光器
机械工程
光学
物理
航空航天工程
作者
Yue Wang,Liangxi Xie,Hao Wang,Wenhao Zeng,Yonghui Ding,Teng Hu,Tao Zheng,Hongyu Liao,Jing Hu
标识
DOI:10.1016/j.autcon.2022.104270
摘要
Currently, wall mortar spraying relies on manual labour, which leads to high labour costs and low construction efficiency. In view of this, an intelligent spraying robot for building walls is developed. The retractable robot structure is designed to resolve the contradiction between the small robot size and the large single working range. A surface-to-surface parallel adjustment algorithm, based on laser ranging, is utilized to keep the robot parallel to the wall during spraying. A polar coordinate transformation method, based on LiDAR data, is used to enable the robot to automatically identify areas which do not need to be sprayed. The results of the experiments show that the robot can adjust its posture in 8 s with angle errors of less than 1° and that the robot can successfully identify windows or doors on walls. The wall spraying experiment proves that the spraying robot can automatically realize the wall mortar spraying. • A robot is developed to realize the automation of interior wall mortar spraying. • A large working range and a small size are achieved by the retractable structure. • A surface-to-surface parallel adjustment algorithm is used for posture adjustment. • The average error of the detection of windows and doors via LiDAR is only 0.26%. • Posture adjustment also has good accuracy, i.e., the angle errors are less than 1°.
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