Intelligent spraying robot for building walls with mobility and perception

作者：Wang, Yue; Xie, Liangxi^*; Wang, Hao; Zeng, Wenhao; Ding, Yonghui; Hu, Teng; Zheng, Tao; Liao, Hongyu; Hu, Jing

来源：AUTOMATION IN CONSTRUCTION, 2022, 139: 104270.

DOI：10.1016/j.autcon.2022.104270

• Mortar spraying
• Intelligent spraying robot
• Posture adjustment
• Detection of windows and doors

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.