CN109441077A - Patch block method and its patch block system, storage medium - Google Patents
Patch block method and its patch block system, storage medium Download PDFInfo
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- CN109441077A CN109441077A CN201811527330.0A CN201811527330A CN109441077A CN 109441077 A CN109441077 A CN 109441077A CN 201811527330 A CN201811527330 A CN 201811527330A CN 109441077 A CN109441077 A CN 109441077A
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- patch block
- brick body
- partly surface
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/165—Implements for finishing work on buildings for finishing joints, e.g. implements for raking or filling joints, jointers
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- Engineering & Computer Science (AREA)
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- Structural Engineering (AREA)
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Abstract
The present invention provides the method and its system, storage medium using finishing robot patch block, scans a region, measures the area on at least partly surface in the region；According to the area on at least partly surface in the region, the parameter value for at least partly surface patch block in the region is set；Wherein, the parameter value includes the brick body quantity needed for at least partly surface patch block in the region and pastes the dosage for pasting material of brick body, brick body is sticked in the location information on at least partly surface in the region；And brick body is expected to be sticked by the location information on at least partly surface in the region by the stickup.The present invention is before the surface to decoration construction carries out patch block, the precise amounts of brick body needed for setting patch block previously according to the area to tile surface, the case where reducing rework rate, while avoiding prepare more material or stocking up less.
Description
Technical field
The present invention relates to robot field more particularly to a kind of method for using finishing robot patch block and system, deposit
Storage media.
Background technique
With the development of China's capital construction, real estate is grown rapidly, and substantially all commodity buildings require on surface
Stick wall brick or wall of laying bricks in fitting space.Currently, common patch block method is mostly manually patch block in industry, that is, fill
The worker for repairing construction estimates patch block region, and the dosage of ceramic tile needed for then rule of thumb estimating or wall brick with the hands grabs ceramic tile
Or wall brick, it is laid on cement again or clay, the surface of ceramic tile or wall brick is then shaken with hammer, estimate rank to reach worker
Smooth patch block effect.
The method of this artificial patch block, the degree of automation is low, and the position precision of patch block is low, the poor flatness of patch block, if
It is tiling, hollowing situation is multiple, increases artificial and material cost on foot.The construction quality of patch block various aspects to skilled worker require compared with
It is high.However, Chinese labour force transition at present, the crowd's quantity for being engaged in manual labor sharply reduces and labour's aging, needs
Not only quantity is very big for the engineering of progress patch block, big to physical fitness requirement, and technical difficulty is very high.Therefore, the method for artificial patch block
Obviously it is unable to satisfy current industry requirement.On the other hand, the patch block area surface at decoration construction scene manually can not be accurately obtained
Product, to can not predefine the material of brick needed for patch block and paste the precise amounts of the material of brick, material needed for patch block often can not be quasi-
Really deposit, the case where prepare more material often occur or stock up less, poor controllability of stocking up can not accurately estimate decoration construction required cost,
If the case where appearance is stocked up less, it is also possible to lead to working-day claims, reduce the efficiency of decoration construction.
Summary of the invention
The present invention provides a kind of method using finishing robot patch block to overcome the problems of the above-mentioned prior art
And its system, storage medium, before the surface to decoration construction carries out patch block, previously according to the area setting to tile surface
The precise amounts of brick body and alite paste needed for patch block reduce rework rate, while the case where avoid prepare more material or stock up less.
According to an aspect of the present invention, a kind of method using finishing robot patch block is provided, comprising:
A region is scanned, the area on at least partly surface in the region is measured；
According to the area on at least partly surface in the region, set for at least partly surface patch block in the region
Parameter value；Wherein, the parameter value includes brick body quantity and stickup needed for at least partly surface patch block in the region
Brick body is sticked in the location information on at least partly surface in the region by the dosage of the stickup material of brick body；And
Brick body is expected to be sticked by the location information on at least partly surface in the region by the stickup.
Optionally, it is sticked one layer of ceramic tile or in at least partly table in the region on at least partly surface in the region
Face paste sets two layers or more of brick.
Optionally, using region described in 3D scanner scanning.
Optionally, patch block method further includes, set for at least partly surface patch block in the region parameter value it
Afterwards, the scene that patch block is carried out using the parameter value of the setting is presented by image or animation.
Optionally, the area on at least partly surface according to the region, setting for the region extremely
The step of parameter value of small part surface patch block, comprising: after measuring the area at least partly surface in the region, in conjunction with
The area in the gap between the area and brick body of selected brick body to be sticked, setting for the region at least partly
The parameter value of surface patch block.
Optionally, the area on at least partly surface according to the region, setting for the region extremely
The step of parameter value of small part surface patch block, comprising: after measuring the area at least partly surface in the region, in conjunction with
The area in the gap between the area of selected brick body to be sticked, brick body and the area of ceramic tile waveguide wire, setting for
The parameter value of at least partly surface patch block in the region.
Optionally, patch block method further includes expecting to be sticked by the location information in institute by the stickup by brick body
Behind at least partly surface for stating region, vibration processing is carried out to brick body；After vibration processing, patch block region is scanned, measures patch block area
The surface smoothness in domain adjusts the gap size between the difference in height and brick body between brick body, adjustment according to the flatness of measurement
Scanning survey flatness again afterwards, until the flatness that measurement obtains is met the requirements.
Optionally, patch block method further includes expecting to be sticked by the location information in institute by the stickup by brick body
Behind at least partly surface for stating region, the humidity and temperature for pasting material place environment is detected, with the determination stickup material
Setting time；After the setting time for pasting material, the gap between brick body squeezes out gap filler；Squeeze out gap filler
Afterwards, then with raking device by the gap filler at gap it strikes off.
According to another aspect of the invention, a kind of patch block system for fitting up robot is also provided, comprising:
Acquisition module, at least for acquiring the area on at least partly surface in a region；
Setting module, for setting the parameter for at least partly surface patch block in the region according to the area
Value；Wherein, the parameter value includes the brick body quantity needed for at least partly surface patch block in the region and the stickup brick
Brick body is sticked in the location information on at least partly surface in the region by the dosage of the stickup material of body；
Drive module, for driving the finishing robot mobile；
First squeeze out module, for will paste material extrusion on at least partly surface in the region will patch block position
It sets；
Module is clamped, for clamping brick body and it being moved to at least partly table in the region by the location information of setting
The designated position in face；And
Second squeezes out module, for squeezing out gap filler at the gap between brick body.
According to another aspect of the invention, a kind of electronic equipment is also provided, the electronic equipment includes: processor；Storage
Medium, is stored thereon with computer program, and the computer program executes step as described above when being run by the processor.
According to another aspect of the invention, a kind of storage medium is also provided, computer journey is stored on the storage medium
Sequence, the computer program execute step as described above when being run by processor.
Compared with prior art, method provided by the invention, system and storage medium have the advantage that
1) before implementing patch block, the area for treating tile surface is prejudged, and sets patch block table according to anticipation result
Brick body needed for face and the dosage for pasting material realize the accurate stock of patch block material, so as to accurately calculate needed for decoration construction
The controllability of expense, stock improves, unnecessary preparatory spending caused by avoiding because of prepare more material, work caused by avoiding because of few stock
Phase is delayed, and the efficiency of decoration construction is provided.On the other hand, the position that is sticked of the brick body of tile surface is set according to anticipation result,
Rework rate is reduced, improves the quality of decoration construction, it can be achieved that decoration construction standardization, equally also improves the effect of decoration construction
Rate.
Detailed description of the invention
Its example embodiment is described in detail by referring to accompanying drawing, above and other feature of the invention and advantage will become
It is more obvious.
Fig. 1 shows the flow chart of the method according to an embodiment of the present invention using finishing robot patch block；
Fig. 2 shows the signals in ground tiling method of finishing robot patch block system according to an embodiment of the present invention
Figure；
Fig. 3 shows laying bricks the signal of wall method on ground for finishing robot patch block system according to an embodiment of the present invention
Figure；
Fig. 4 shows the module map of finishing robot patch block system according to an embodiment of the present invention.
Fig. 5 schematically shows a kind of computer readable storage medium schematic diagram in disclosure exemplary embodiment.
Fig. 6 schematically shows a kind of electronic equipment schematic diagram in disclosure exemplary embodiment.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, thesing embodiments are provided so that the disclosure will more
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.Described feature, knot
Structure or characteristic can be incorporated in any suitable manner in one or more embodiments.
In addition, attached drawing is only the schematic illustrations of the disclosure, it is not necessarily drawn to scale.Identical attached drawing mark in figure
Note indicates same or similar part, thus will omit repetition thereof.Some block diagrams shown in the drawings are function
Energy entity, not necessarily must be corresponding with physically or logically independent entity.These function can be realized using software form
Energy entity, or these functional entitys are realized in one or more hardware modules or integrated circuit, or at heterogeneous networks and/or place
These functional entitys are realized in reason device device and/or microcontroller device.
In order to solve the defects of prior art, the present invention provide it is a kind of using finishing robot patch block method and its be
System, storage medium set patch block institute previously according to the area to tile surface before the surface to decoration construction carries out patch block
The precise amounts of brick body and alite paste are needed, rework rate is reduced.
The process of the method according to an embodiment of the present invention using finishing robot patch block is shown referring first to Fig. 1, Fig. 1
Figure.
Fig. 1 shows three steps altogether:
Step S110: one region of scanning measures the area on at least partly surface in the region；
Step S120: it according to the area on at least partly surface in the region, sets for at least portion in the region
Divide the parameter value of surface patch block；Wherein, the parameter value includes the brick body needed for at least partly surface patch block in the region
Brick body is sticked in the position on at least partly surface in the region by the dosage of the stickup material of quantity and stickup brick body
Information；
Step S130: brick body is expected to be sticked by the location information in at least portion in the region by the stickup
Divide surface.
Compared with prior art, it in the method provided by the invention using finishing robot patch block, has the advantage that
1) before implementing patch block, the area for treating tile surface is prejudged, and sets patch block table according to anticipation result
Brick body needed for face and the dosage for pasting material realize the accurate stock of patch block material, so as to accurately calculate needed for decoration construction
The controllability of expense, stock improves, unnecessary preparatory spending caused by avoiding because of prepare more material, work caused by avoiding because of few stock
Phase is delayed, and the efficiency of decoration construction is provided.
2) according to the position that is sticked of the brick body of anticipation result setting tile surface, rework rate is reduced, decoration construction is improved
Quality, it can be achieved that decoration construction standardize, equally also improve the efficiency of decoration construction.
The method provided by the invention using finishing robot patch block is further described below with reference to Fig. 2 and 3.Fig. 2 shows
The schematic diagram in ground tiling method of finishing robot patch block system according to an embodiment of the present invention.Fig. 3 shows root
It lays bricks the schematic diagram of wall method according to the finishing robot patch block system of the embodiment of the present invention on ground.
As shown in Fig. 2, by taking the ground 01 to tiling of a rough house as an example, to the ground 01 of out-of-flatness carry out it is levelling after
Form flat surface 02.First using the scanning means with sensor, the area of flat surface 02 is measured, 3D scanning can be used
Instrument scans flat surface 02 can also be by the threedimensional model of flat surface 02 while measuring the area data of flat surface 02
It shows.
According to the area of flat surface 02, set for the parameter value in 02 patch block of flat surface；Wherein, the parameter value
Stickup material including the brick body quantity needed for 02 patch block of flat surface and stickup brick body, for example, needed for the patch block of ground
Concrete, the clay needed for wall tile, dosage and brick body is sticked in the location information of flat surface 02.
" setting " described in the step includes but is not limited to: according to the area of flat surface 02, brick body to be sticked
Gap area between area and brick body further includes directly being calculated according to the area of ceramic tile waveguide wire if there is ceramic tile waveguide wire
The parameter value of flat surface patch block realizes that brick body in the autoplacement of flat surface 02, reads the parameter of the patch block of autoplacement
Value, such as brick body point are exported to the master control borad of patch block system；It is transferred in patch block system and is stored according to the area of flat surface 02
The matched parameter value in 02 patch block of flat surface；It, can be first by designer by such as according to the area of flat surface 02
The drawing softwares such as AutoCAD design the drawing in 02 patch block of flat surface, are read in drawing by the plug-in unit of patch block system
Patch block parameter value is simultaneously exported to master control borad；Or, according to the area of flat surface 02, in the interactive interface of patch block system and user
Directly input the parameter value in 02 patch block of flat surface or the parameter value in 02 patch block of flat surface that shows to interactive interface
It modifies adjustment.
For directly calculating the parameter value of 02 patch block of flat surface according to the area of flat surface 02, specifically include that
Measurement obtain it is levelling after flat surface 02 area be S, if flat surface 02 be smooth rectangle plane, at most need 9
The ceramic tile of kind specification (size) and the gap of two kinds of specifications: side seam (generally assume that the equivalent width of four side seams), and
Lateral/vertical gap (generally assume that the equivalent width in lateral/vertical gap)；Flat surface 02 be also possible that corner it
The region of class, then cut.Therefore, for the position that is sticked of ceramic tile, a set of graphical interaction interface can be provided, allows use
The parameter that is sticked of family manual setting ceramic tile, but when preloading, it is for reference to provide a few set Brick-setting shutterings, uses
Family can adjust patch block scheme based on template.User can be by graphical interaction interface, according to the plan view of practical equal proportion, selection
Corresponding ceramic tile and specification, set the width in gap, according to favorite placement position, generate the design for completing ceramic tile
Figure.According to the design drawing, the coordinate (x, y) of each block of ceramic tile can be calculated and ceramic tile quantity and paste dosage.Patch block system
The clamping module of system clamps ceramic tile and is put into specified coordinate position, that is, can reach one-to-one pass according to the coordinate of ceramic tile
System completes patch block.
Setting for 02 patch block of flat surface parameter value after, user interface will using the setting parameter value into
(as shown in Figure 2) is presented by image or animation in the scene of row patch block, and construction worker is allow intuitively to observe the patch that will be carried out
Brickwork sequence.
After the parameter value for determining 02 patch block of flat surface, ceramic tile is sticked by concrete by set location information
The surface of flat surface 02.During practical patch block, user interface can synchronize the situation that is sticked that ceramic tile is presented in real time, to construct
Worker monitors condition of construction in real time.
Ceramic tile is sticked after flat surface 02 by concrete by the location information, vibration processing is carried out to ceramic tile,
So that concrete tamps；After vibration processing, patch block region is scanned, measures the surface smoothness in patch block region, according to the flat of measurement
The gap size between difference in height and brick body between whole degree adjustment brick body.Specifically, being sticked after ceramic tile, set by 3D scanning
The standby three-dimensional data for taking scene again, for judge ceramic tile and gap whether in the error range of permission.It can be according to setting
The parameter value in 02 patch block of flat surface set determines that the plane of the default ceramic tile that is sticked as datum plane, has actually been sticked
The difference of ceramic tile and this plane is a parameter, it is assumed that this parameter is A mm, then for the ceramic tile for being greater than A mm, machine
People, which can be shaken again the ceramic tile by clamping module, to be pushed, and for being less than the ceramic tile of A mm, robot can pass through clamping
Module clamps the ceramic tile and by its pull-up.Scanning survey flatness weighs if being unsatisfactory for the threshold value of flatness requirement again after adjustment
Multiple above-mentioned set-up procedure, until the flatness that measurement obtains is met the requirements.The width differential in the gap between adjacent ceramic tile is
Another parameter, it is assumed that this parameter is B mm, then for the adjacent tiles for being more than or less than B mm, robot can pass through folder
Modulus block clamps the ceramic tile and moves along the parallel direction of flat surface 02, keeps the width differential in the gap between adjacent ceramic tile full
Sufficient B mm.
Ceramic tile is sticked after flat surface 02 by concrete by the location information, detection concrete local environment
Humidity and temperature determine the setting time of concrete in conjunction with the component proportion of concrete used.It can be remembered in advance by Vicat apparatus
Setting time of the concrete of every kind of different component proportion under different temperatures and humidity is recorded, and is stored in patch block system, is led to
The humidity and temperature for crossing the measurement module detection concrete local environment of patch block system, are directly transferred from patch block system corresponding
Setting time.Patch block system control finishing robot enters suspend mode in setting time, to reduce energy consumption.
After concrete setting, gap between the tiles squeezes out gap filler；After squeezing out gap filler, then will seam with raking device
Gap filler at gap strikes off, and reaches U.S. seam effect.
As shown in figure 3, for laying bricks wall on ground by finishing robot patch block system, compared in ground face paste porcelain
Brick, there is only the differences that the number of plies for the brick body being sticked is multilayer.That is, be sticked every layer of brick body when, repeat and above-mentioned be sticked on ground
The step of ceramic tile.
Above is only schematically to describe multiple embodiments provided by the invention, and the present invention is not limited thereto.
The present invention also provides a kind of finishing robot patch block systems.According to the present invention one is shown referring to Fig. 4, Fig. 4
The module map of the finishing robot patch block system of embodiment.Fitting up robot system 200 includes acquisition module 210, setting module
220, drive module 230, first squeezes out module 240, clamping module 250 and second squeezes out module 260.
Acquisition module 210, at least for acquiring the area on at least partly surface in a region；
Setting module 220, for setting the ginseng for at least partly surface patch block in the region according to the area
Numerical value；Wherein, the parameter value includes described in the brick body quantity needed for at least partly surface patch block in the region and stickup
Brick body is sticked in the location information on at least partly surface in the region by the dosage of the stickup material of brick body；
Drive module 230, for driving the finishing robot mobile；
First squeeze out module 240, for will paste material extrusion on at least partly surface in the region will patch block
Position；
Module 250 is clamped, for clamping brick body and it being moved to at least portion in the region by the location information of setting
Divide the designated position on surface；And
Second squeezes out module 260, for squeezing out gap filler at the gap between brick body.Wherein, it first squeezes out
Module 240 and the second extrusion module 260 can be different extrusion modules, be also possible to same extrusion module during patch block
Different extrusion steps in squeeze out different extruded stocks.
Compared with prior art, it in finishing robot provided by the invention patch block system, has the advantage that
1) before implementing patch block, the area for treating tile surface is prejudged, and sets patch block table according to anticipation result
Brick body needed for face and the dosage for pasting material realize the accurate stock of patch block material, so as to accurately calculate needed for decoration construction
The controllability of expense, stock improves, unnecessary preparatory spending caused by avoiding because of prepare more material, work caused by avoiding because of few stock
Phase is delayed, and the efficiency of decoration construction is provided.
2) according to the position that is sticked of the brick body of anticipation result setting tile surface, rework rate is reduced, decoration construction is improved
Quality, it can be achieved that decoration construction standardize, equally also improve the efficiency of decoration construction.
Fitting up robot patch block system can also increase according to extension function: measurement module, for that will paste material by set
Dosage be expressed into after tile surface, the humidity and temperature of material local environment are pasted in detection, in conjunction with the group used for pasting material
Distribution ratio determines the setting time for pasting material；Module is struck off, after squeezing out gap filler to the gap between brick body, will be stitched
Gap filler at gap strikes off, and reaches U.S. seam effect；Display module, for by image or moving the scene of patch block in user interface
It draws and presents.
Fig. 4 is only the module map for showing schematically finishing robot system provided by the invention, without prejudice to this hair
Under the premise of bright design, the fractionation of module, increases all within protection scope of the present invention merging.
In an exemplary embodiment of the disclosure, a kind of computer readable storage medium is additionally provided, meter is stored thereon with
Calculation machine program, the program may be implemented electronic prescription described in any one above-mentioned embodiment and circulate when being executed by such as processor
The step of processing method.In some possible embodiments, various aspects of the invention are also implemented as a kind of program production
The form of product comprising program code, when described program product is run on the terminal device, said program code is for making institute
It states terminal device and executes described in this specification above-mentioned electronic prescription circulation processing method part various examples according to the present invention
The step of property embodiment.
Refering to what is shown in Fig. 5, describing the program product for realizing the above method of embodiment according to the present invention
500, can using portable compact disc read only memory (CD-ROM) and including program code, and can in terminal device,
Such as it is run on PC.However, program product of the invention is without being limited thereto, in this document, readable storage medium storing program for executing can be with
To be any include or the tangible medium of storage program, the program can be commanded execution system, device or device use or
It is in connection.
Described program product can be using any combination of one or more readable mediums.Readable medium can be readable letter
Number medium or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can be but be not limited to electricity, magnetic, optical, electromagnetic, infrared ray or
System, device or the device of semiconductor, or any above combination.The more specific example of readable storage medium storing program for executing is (non exhaustive
List) include: electrical connection with one or more conducting wires, portable disc, hard disk, random access memory (RAM), read-only
Memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read only memory
(CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
The computer readable storage medium may include in a base band or the data as the propagation of carrier wave a part are believed
Number, wherein carrying readable program code.The data-signal of this propagation can take various forms, including but not limited to electromagnetism
Signal, optical signal or above-mentioned any appropriate combination.Readable storage medium storing program for executing can also be any other than readable storage medium storing program for executing
Readable medium, the readable medium can send, propagate or transmit for by instruction execution system, device or device use or
Person's program in connection.The program code for including on readable storage medium storing program for executing can transmit with any suitable medium, packet
Include but be not limited to wireless, wired, optical cable, RF etc. or above-mentioned any appropriate combination.
The program for executing operation of the present invention can be write with any combination of one or more programming languages
Code, described program design language include object oriented program language-Java, C++ etc., further include conventional
Procedural programming language-such as " C " language or similar programming language.Program code can be fully in tenant
It calculates and executes in equipment, partly executed in tenant's equipment, being executed as an independent software package, partially in tenant's calculating
Upper side point is executed on a remote computing or is executed in remote computing device or server completely.It is being related to far
Journey calculates in the situation of equipment, and remote computing device can pass through the network of any kind, including local area network (LAN) or wide area network
(WAN), it is connected to tenant and calculates equipment, or, it may be connected to external computing device (such as utilize ISP
To be connected by internet).
In an exemplary embodiment of the disclosure, a kind of electronic equipment is also provided, which may include processor,
And the memory of the executable instruction for storing the processor.Wherein, the processor is configured to via described in execution
Executable instruction is come the step of executing the circulation processing method of electronic prescription described in any one above-mentioned embodiment.
Person of ordinary skill in the field it is understood that various aspects of the invention can be implemented as system, method or
Program product.Therefore, various aspects of the invention can be embodied in the following forms, it may be assumed that complete hardware embodiment, complete
The embodiment combined in terms of full Software Implementation (including firmware, microcode etc.) or hardware and software, can unite here
Referred to as circuit, " module " or " system ".
The electronic equipment 1000 of this embodiment according to the present invention is described referring to Fig. 6.The electronics that Fig. 6 is shown
Equipment 1000 is only an example, should not function to the embodiment of the present invention and use scope bring any restrictions.
As shown in fig. 6, electronic equipment 1000 is showed in the form of universal computing device.The component of electronic equipment 1000 can be with
Including but not limited to: at least one processing unit 1010, at least one storage unit 1020, the different system components of connection (including
Storage unit 1020 and processing unit 1010) bus 1030 etc..
Wherein, the storage unit is stored with program code, and said program code can be held by the processing unit 1010
Row, so that the processing unit 1010 executes described in this specification above-mentioned electronic prescription circulation processing method part according to this
The step of inventing various illustrative embodiments.For example, the processing unit 1010 can execute step as shown in fig. 1.
The storage unit 1020 may include the readable medium of volatile memory cell form, such as random access memory
Unit (RAM) 10201 and/or cache memory unit 10202 can further include read-only memory unit (ROM)
10203。
The storage unit 1020 can also include with one group of (at least one) program module 10205 program/it is practical
Tool 10204, such program module 10205 includes but is not limited to: operating system, one or more application program, other
It may include the realization of network environment in program module and program data, each of these examples or certain combination.
Bus 1030 can be to indicate one of a few class bus structures or a variety of, including storage unit bus or storage
Cell controller, peripheral bus, graphics acceleration port, processing unit use any bus structures in a variety of bus structures
Local bus.
Electronic equipment 1000 can also be with one or more external equipments 1100 (such as keyboard, sensing equipment, bluetooth equipment
Deng) communication, the equipment that also tenant can be enabled interact with the electronic equipment 1000 with one or more communicates, and/or with make
The electronic equipment 1000 can with it is one or more of the other calculating equipment be communicated any equipment (such as router, modulation
Demodulator etc.) communication.This communication can be carried out by input/output (I/O) interface 1050.Also, electronic equipment 1000
Network adapter 1060 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public affairs can also be passed through
Common network network, such as internet) communication.Network adapter 1060 can pass through other modules of bus 1030 and electronic equipment 1000
Communication.It should be understood that although not shown in the drawings, other hardware and/or software module, packet can be used in conjunction with electronic equipment 1000
It includes but is not limited to: microcode, device driver, redundant processing unit, external disk drive array, RAID system, magnetic tape drive
Device and data backup storage system etc..
Through the above description of the embodiments, those skilled in the art is it can be readily appreciated that example described herein is implemented
Mode can also be realized by software realization in such a way that software is in conjunction with necessary hardware.Therefore, according to the disclosure
The technical solution of embodiment can be embodied in the form of software products, which can store non-volatile at one
Property storage medium (can be CD-ROM, USB flash disk, mobile hard disk etc.) in or network on, including some instructions are so that a calculating
Equipment (can be personal computer, server or network equipment etc.) executes the above-mentioned electronics according to disclosure embodiment
Prescription circulation processing method.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the disclosure
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by appended
Claim is pointed out.
Claims (10)
1. a kind of method using finishing robot patch block characterized by comprising
A region is scanned, the area on at least partly surface in the region is measured；
According to the area on at least partly surface in the region, the ginseng for at least partly surface patch block in the region is set
Numerical value；Wherein, the parameter value includes described in the brick body quantity needed for at least partly surface patch block in the region and stickup
Brick body is sticked in the location information on at least partly surface in the region by the dosage of the stickup material of brick body；And
Brick body is expected to be sticked by the location information on at least partly surface in the region by the stickup.
2. patch block method as described in claim 1, which is characterized in that be sticked one layer of porcelain on at least partly surface in the region
Brick is sticked two layers or more of brick on at least partly surface in the region.
3. patch block method as described in claim 1, which is characterized in that using region described in 3D scanner scanning.
4. patch block method as described in claim 1, which is characterized in that further include setting for at least portion in the region
Divide after the parameter value of surface patch block, is in by image or animation by the scene for carrying out patch block using the parameter value of the setting
It is existing.
5. patch block method as described in claim 1, which is characterized in that at least partly surface according to the region
Area, setting is for the parameter value of at least partly surface patch block in the region the step of, comprising: is measuring the region
At least partly surface area after, in conjunction with selected brick body to be sticked area and brick body between gap area,
Set the parameter value for at least partly surface patch block in the region.
6. patch block method as described in claim 1, which is characterized in that at least partly surface according to the region
Area, setting is for the parameter value of at least partly surface patch block in the region the step of, comprising: is measuring the region
At least partly surface area after, in conjunction with the gap between the area of selected brick body to be sticked, brick body area and
The area of ceramic tile waveguide wire sets the parameter value for at least partly surface patch block in the region.
7. patch block method as described in claim 1, which is characterized in that further include pressing brick body by stickup material
The location information is sticked behind at least partly surface in the region, carries out vibration processing to brick body；After vibration processing, scanning
Patch block region measures the surface smoothness in patch block region, adjusts the difference in height and brick body between brick body according to the flatness of measurement
Between gap size, scanning survey flatness again after adjustment, until the flatness that measurement obtains is met the requirements.
8. patch block method as described in claim 1, which is characterized in that further include pressing brick body by stickup material
The location information is sticked behind at least partly surface in the region, detects the humidity and temperature for pasting material place environment
Degree, with the determination setting time for pasting material；After the setting time for pasting material, the gap between brick body
Squeeze out gap filler；After squeezing out gap filler, then with raking device the gap filler at gap is struck off.
9. a kind of patch block system for fitting up robot characterized by comprising
Acquisition module, at least for acquiring the area on at least partly surface in a region；
Setting module, for setting the parameter value for at least partly surface patch block in the region according to the area；Its
In, the parameter value includes the brick body quantity needed for at least partly surface patch block in the region and pastes the viscous of brick body
It pastes the dosage of material, brick body is sticked in the location information on at least partly surface in the region；
Drive module, for driving the finishing robot mobile；
First squeeze out module, for will paste material extrusion on at least partly surface in the region will patch block position；
Module is clamped, for clamping brick body and it being moved to at least partly surface in the region by the location information of setting
Designated position；And
Second squeezes out module, for squeezing out gap filler at the gap between brick body.
10. a kind of storage medium, which is characterized in that be stored with computer program, the computer program on the storage medium
Step as claimed in any one of claims 1 to 8 is executed when being run by processor.
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