Waterproofing is an important part of the construction industry, but the building water leakage rate remains high due to the low construction price, urgent construction period, and easy water leakage at the lap edge of membranes. At the same time, many enterprises have tried applying robots to partially complete the work aiming to improve efficiency and reduce costs. According to the waterproof construction requirements and the existing problems in traditional construction methods, this thesis puts forward a construction method of laying hot-melt waterproof coating directly on the construction surface and develops a waterproof construction robot that can automatically perform this task.

According to the system analysis of waterproof construction, the robot comprises three systems: movin...[ Read more ]

Waterproofing is an important part of the construction industry, but the building water leakage rate remains high due to the low construction price, urgent construction period, and easy water leakage at the lap edge of membranes. At the same time, many enterprises have tried applying robots to partially complete the work aiming to improve efficiency and reduce costs. According to the waterproof construction requirements and the existing problems in traditional construction methods, this thesis puts forward a construction method of laying hot-melt waterproof coating directly on the construction surface and develops a waterproof construction robot that can automatically perform this task.

According to the system analysis of waterproof construction, the robot comprises three systems: moving, heating and insulation, and coating extrusion. The robot utilizes a four-wheel Ackerman chassis and realizes the critical function of extruding a coating layer with uniform thickness. For the large plane waterproof construction, the robot can distinguish the coating’s edge of through visual recognition or magnetic navigation and automatically lay the next row of coating along it. The robot employs PID control algorithm to meet the construction requirements, such as the moving deviation in the straight laying process does not exceed 2cm. In order to further achieve the fully automatic construction, an RTK-GPS/INS integrated position system achieves the centimeter-level positioning. Moreover Lidar, IMU, wheel speedometer, and RTK-GPS are combined to afford the robot’s outdoor self-localization and mapping with sensor fusion.