CN109532311B - Wallpaper seam aligning device and method for aligning wallpaper seams by using same - Google Patents
Wallpaper seam aligning device and method for aligning wallpaper seams by using same Download PDFInfo
- Publication number
- CN109532311B CN109532311B CN201811641050.2A CN201811641050A CN109532311B CN 109532311 B CN109532311 B CN 109532311B CN 201811641050 A CN201811641050 A CN 201811641050A CN 109532311 B CN109532311 B CN 109532311B
- Authority
- CN
- China
- Prior art keywords
- wallpaper
- intelligent camera
- included angle
- adjustment mechanism
- fine adjustment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44C—PRODUCING DECORATIVE EFFECTS; MOSAICS; TARSIA WORK; PAPERHANGING
- B44C7/00—Paperhanging
- B44C7/02—Machines, apparatus, tools or accessories therefor
- B44C7/06—Machines, apparatus, tools or accessories therefor for applying the paper to the surface to be covered
Landscapes
- Road Paving Machines (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a wallpaper seam aligning device and a method for aligning wallpaper seams by using the same, wherein the device comprises: the automatic guiding transport vehicle is provided with a wallpaper paving and pasting device; the first intelligent camera, the second intelligent camera and the laser pen are arranged on the same side face of the shell of the wallpaper paving and pasting device, the first intelligent camera, the second intelligent camera and the laser pen are vertically aligned, and the lenses of the first intelligent camera and the second intelligent camera are right opposite to the wall surface; the first intelligent camera and the second intelligent camera send control signals to the included angle fine adjustment mechanism and the displacement fine adjustment mechanism; the included angle fine adjustment mechanism is arranged on the automatic guide transport vehicle and is driven by a control signal to adjust an included angle between the bottom surface of the wallpaper paving and pasting device and the horizontal plane; and the displacement fine-tuning mechanism is arranged on the automatic guide transport vehicle, and fine-tunes the displacement of the wallpaper paving device in the direction parallel to the wall surface under the driving of control signals sent by the first intelligent camera and the second intelligent camera.
Description
Technical Field
The invention relates to the technical field of images, in particular to a wallpaper seam aligning device and a method for aligning wallpaper seams by using the same.
Background
The patchwork is usually the connection between wallpaper in interior decoration or between wallpaper and picture mirror line, skirting board, etc. According to the difference between different wallpaper and pasted parts, the wallpaper has four seam splicing modes, namely butt joint seam splicing, lap joint seam splicing, joining seam splicing, overlapping and cutting seam splicing and the like.
The butt joint seam is the best appearance of all the pasted wallpaper seams and is formed by butt joint of straight edges of wallpaper. The wallpaper pasting machine has the characteristics of neat abutted seams, difficult trace exposure, neat and beautiful appearance, wide use and suitability for large-area wallpaper pasting of flat wall surfaces. Because the wallpaper adopting the butt-jointed seam is the wallpaper with or without edges, the appearance after butt-jointed seam has good flatness, is tidy and beautiful and has excellent decorative performance.
When butt joint and seam splicing are carried out, one wallpaper and the other wallpaper are aligned to be aligned, and then the two wallpapers are squeezed tightly by the pressure of the palm, so that the two wallpapers are close to and aligned. After the seam is spliced, rolling and pressing for 10-15 minutes by using a roller, and then wiping off surface glue solution by using a wet sponge block. After the wallpaper is dried by the operation, the seam marks naturally disappear. However, at present, butt joint and abutted seams, especially wallpaper alignment process still need manual operation, and the efficiency is low and the cost is high.
Disclosure of Invention
The embodiment of the invention aims to provide a wallpaper seam aligning device, a method for aligning wallpaper seams by using the wallpaper seam aligning device, and another wallpaper seam aligning method and device.
In order to solve the above technical problem, an aspect of the present invention provides a wallpaper seam aligning device, including: the device comprises a first intelligent camera, a second intelligent camera, a laser pen, an automatic guide transport vehicle, an included angle fine adjustment mechanism and a displacement fine adjustment mechanism, wherein a wallpaper paving and pasting device is installed on the automatic guide transport vehicle; the first intelligent camera, the second intelligent camera and the laser pen are installed on the same side face of the shell of the wallpaper paving and pasting device, the first intelligent camera, the second intelligent camera and the laser pen are vertically aligned, the laser pen is located between the first intelligent camera and the second intelligent camera, when the wallpaper paving and pasting device works, the projection of laser emitted by the laser pen on a wall surface is a laser line vertical to a horizontal plane, and the lenses of the first intelligent camera and the second intelligent camera are opposite to the wall surface; the first intelligent camera and the second intelligent camera are respectively and electrically connected with the included angle fine adjustment mechanism and the displacement fine adjustment mechanism, and send control signals to the included angle fine adjustment mechanism and the displacement fine adjustment mechanism; the included angle fine-tuning mechanism is arranged on the automatic guide transport vehicle and is used for adjusting an included angle between the bottom surface of the wallpaper paving and pasting device and the horizontal plane under the driving of control signals sent by the first intelligent camera and the second intelligent camera; the displacement fine-tuning mechanism is arranged on the automatic guide transport vehicle, and the wallpaper paving and pasting device is finely tuned to be parallel to the displacement in the direction of the wall surface under the driving of the control signals sent by the first intelligent camera and the second intelligent camera.
Optionally, the automated guided vehicle has an input component.
Optionally, contained angle fine-tuning sets up the roof of automated guided transporting vehicle, displacement fine-tuning fixes on the contained angle fine-tuning, the bottom surface of wall paper shop's device is fixed on the displacement fine-tuning.
Optionally, the included angle fine-tuning mechanism includes: first bottom plate, first drive module and sloping iron lead screw guide rail mechanism, wherein, first drive module with sloping iron lead screw guide rail mechanism sets up on the first bottom plate, first bottom plate is fixed the roof of automated guided transporting vehicle, first drive module with first intelligent camera with the second intelligent camera electricity is connected, first drive module drive sloping iron lead screw guide rail mechanism adjusts contained angle between the bottom surface of wall paper shop pasting device and the horizontal plane.
Optionally, the displacement fine-tuning mechanism comprises: second bottom plate, second drive module and lead screw fine-tuning, wherein, the second drive module with lead screw fine-tuning sets up on the second bottom plate, the second bottom plate is fixed on the contained angle fine-tuning, the second drive module with first smart camera with the second smart camera electricity is connected, the drive of second drive module lead screw fine-tuning fine setting the wall paper is spread and is pasted the device and be on a parallel with the ascending displacement in direction of wall.
Optionally, the first and second smart cameras are charge coupled device CCD cameras.
Optionally, in operation, the plumb line disposed on the wall surface is perpendicular to one side of the images captured by the first and second smart cameras.
Optionally, in operation, the laser line is parallel to the plumb line, and in the images captured by the first and second smart cameras, the laser line is located at 1/2 where the images are in a horizontal direction.
The invention also provides a method for aligning wallpaper joints by using the wallpaper joint aligning device, which comprises the following steps: step 1, a first intelligent camera and a second intelligent camera of a wallpaper seam alignment device respectively shoot images, and the shot images are subjected to image graying processing to obtain grayscale images; step 2, the first intelligent camera and the second intelligent camera respectively identify the obtained gray level images and identify the edges of wallpaper in the images; step 3, the first intelligent camera and the second intelligent camera respectively detect the included angle between the identified wallpaper edge and a preset reference line; step 4, under the condition that the detected included angle is zero, the first intelligent camera and the second intelligent camera detect the distance between the identified wallpaper edge and the reference line; and 5, under the condition that the detected distance is zero, the first intelligent camera and the second intelligent camera send wallpaper paving operation control signals to a wallpaper paving device, and the wallpaper paving device is driven to conduct wallpaper paving operation.
Optionally, in a case that the detected included angle is not zero, the method further includes: step 41, the first intelligent camera and the second intelligent camera send corresponding included angle adjusting signals to an included angle fine-tuning mechanism of the wallpaper seam aligning device according to the included angle; and step 42, the included angle fine adjustment mechanism receives the included angle adjustment signal, adjusts the included angle between the bottom surface of the wallpaper paving and pasting device and the horizontal plane according to the included angle adjustment signal, and returns to the step 1.
Optionally, in a case that the detected distance is not zero, the method further includes: step 51, the first intelligent camera and the second intelligent camera send corresponding distance adjusting signals to a displacement fine-tuning mechanism of the wallpaper seam aligning device according to the detected distance; and step 52, the displacement fine adjustment mechanism receives the distance adjustment signal, drives the wallpaper paving and pasting device to move for a preset distance in the horizontal direction parallel to the wall surface according to the distance adjustment signal, and returns to the step 1.
Optionally, the identifying, by the first intelligent camera and the second intelligent camera, the obtained grayscale image, and identifying a wallpaper edge in the image includes: and the first intelligent camera and the second intelligent camera respectively adopt a line segment detection LSD algorithm to identify the obtained gray level image, and identify the edge of the wallpaper in the image.
According to another aspect of the invention, a wallpaper seam aligning method is provided, which comprises the following steps: step 1, acquiring a current wall surface image; step 2, converting the acquired wall surface image into a gray level image; step 3, identifying the gray level image obtained by conversion, and identifying the edge of wallpaper in the image; step 4, detecting an included angle between the identified wallpaper edge and a preset alignment reference line; step 5, under the condition that the detected included angle is zero, detecting the distance between the identified wallpaper edge and the alignment reference line; and 6, outputting a wallpaper paving operation control signal under the condition that the detected distance is zero, and indicating a wallpaper paving device to perform wallpaper paving operation.
Optionally, in a case that the detected included angle is not zero, the method further includes: and step 51, outputting a corresponding included angle adjusting signal according to the detected included angle, instructing an adjusting device to adjust the horizontal included angle of the wallpaper paving device according to the manner corresponding to the detected included angle, and returning to the step 1.
Optionally, in a case that the detected distance is not zero, the method further includes: and 61, outputting a corresponding distance adjusting signal according to the detected distance, instructing an adjusting device to drive the wallpaper laying device to move in the horizontal direction in a manner corresponding to the detected distance, and returning to the step 1.
Optionally, recognizing the converted grayscale image to identify a wallpaper edge in the image, including: and identifying the obtained gray image by adopting a line segment detection LSD algorithm, and identifying the edge of the wallpaper in the image.
According to yet another aspect of the present invention, there is provided a wallpaper patchwork alignment apparatus comprising: the image acquisition module is used for acquiring a current wall surface image; the image conversion module is used for converting the acquired wall surface image into a gray level image; the image identification module is used for identifying the gray level image obtained by conversion and identifying the edge of wallpaper in the image; the included angle detection module is used for detecting the included angle between the identified wallpaper edge and a preset alignment reference line; the distance detection module is used for detecting the distance between the identified wallpaper edge and the alignment reference line under the condition that the detected included angle is zero; and the instruction output module is used for outputting a wallpaper paving operation control signal under the condition that the detected distance is zero, and indicating the wallpaper paving device to perform wallpaper paving operation.
Optionally, the instruction output module is further configured to output a corresponding included angle adjusting signal according to the detected included angle under the condition that the detected included angle is not zero, instruct an adjusting device to adjust a horizontal included angle of the wallpaper pasting device according to a manner corresponding to the detected included angle, and then trigger the image acquisition module.
Optionally, the instruction output module is further configured to output a corresponding distance adjustment signal according to the detected distance when the detected distance is not zero, instruct an adjustment device to drive the wallpaper placement device to move in the horizontal direction in a manner corresponding to the detected distance, and then trigger the image acquisition module.
Optionally, the image recognition module recognizes the wallpaper edge in the image by: and identifying the obtained gray image by adopting a line segment detection LSD algorithm, and identifying the edge of the wallpaper in the image.
According to the technical scheme provided by the invention, the current wall image is obtained through the camera, the edge of the wallpaper is identified, whether the horizontal included angle and the position of the wallpaper paving and pasting device need to be adjusted or not can be judged by comparing the identified edge of the wallpaper with the reference line, and if so, a corresponding instruction is sent to adjust, so that the wallpaper alignment automation can be realized, and the efficiency and the cost are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic view of an installation structure of a wallpaper seam alignment device provided in embodiment 1 of the present invention;
FIG. 2 is a schematic diagram showing the positions of camera images and laser lines in embodiment 1 of the present invention;
fig. 3 is a schematic perspective view of an included angle fine adjustment mechanism in embodiment 1 of the present invention;
fig. 4 is a left side view of an angle fine adjustment mechanism in embodiment 1 of the present invention;
fig. 5 is a schematic perspective view of a displacement fine adjustment mechanism in embodiment 1 of the present invention;
fig. 6 is a flowchart of a method for wallpaper seam alignment by using a wallpaper seam alignment device according to embodiment 2 of the present invention;
fig. 7 is a flowchart of a wallpaper seam alignment method according to embodiment 3 of the present invention;
fig. 8 is a schematic structural diagram of a wallpaper seam alignment device provided in embodiment 4 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or quantity or location.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The general inventive concept of various preferred wallpaper seam aligning devices provided by the invention is as follows: a first intelligent camera, a second intelligent camera, a laser pen, an automatic guide transport vehicle, an included angle fine adjustment mechanism and a displacement fine adjustment mechanism, wherein,
a wallpaper paving and pasting device is arranged on the automatic guiding and transporting vehicle;
the first intelligent camera, the second intelligent camera and the laser pen are installed on the same side face of the shell of the wallpaper paving and pasting device, the first intelligent camera, the second intelligent camera and the laser pen are vertically aligned, the laser pen is located between the first intelligent camera and the second intelligent camera, when the wallpaper paving and pasting device works, the projection of laser emitted by the laser pen on a wall surface is a laser line vertical to a horizontal plane, and the lenses of the first intelligent camera and the second intelligent camera are opposite to the wall surface;
the first intelligent camera and the second intelligent camera are respectively and electrically connected with the included angle fine adjustment mechanism and the displacement fine adjustment mechanism, and send control signals to the included angle fine adjustment mechanism and the displacement fine adjustment mechanism;
the included angle fine-tuning mechanism is arranged on the automatic guide transport vehicle and is used for adjusting an included angle between the bottom surface of the wallpaper paving and pasting device and the horizontal plane under the driving of control signals sent by the first intelligent camera and the second intelligent camera;
the displacement fine-tuning mechanism is arranged on the automatic guide transport vehicle, and the wallpaper paving and pasting device is finely tuned to be parallel to the displacement in the direction of the wall surface under the driving of the control signals sent by the first intelligent camera and the second intelligent camera.
Correspondingly, the method for aligning the wallpaper joint seam by the wallpaper joint seam aligning device comprises the following steps:
and 5, under the condition that the detected distance is zero, the first intelligent camera and the second intelligent camera send wallpaper paving operation control signals to a wallpaper paving device, and the wallpaper paving device is driven to conduct wallpaper paving operation.
Embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
Example 1
The embodiment provides a wall paper piece alignment device.
Fig. 1 is a schematic view of an installation structure of a wallpaper seam alignment device provided in this embodiment. As shown in fig. 1, the wallpaper pasting device provided in this embodiment mainly includes: the system comprises a first intelligent camera 1, a second intelligent camera 3, a laser pen 2, an automatic guide transport vehicle 4, an included angle fine adjustment mechanism 5 and a displacement fine adjustment mechanism 6, wherein a wallpaper paving and pasting device is installed on the automatic guide transport vehicle 4; the first intelligent camera 1, the second intelligent camera 3 and the laser pen 2 are arranged on the same side face of the shell of the wallpaper paving and pasting device, the first intelligent camera 1, the second intelligent camera 3 and the laser pen 2 are vertically aligned, the laser pen 2 is arranged between the first intelligent camera 1 and the second intelligent camera 3, when the wallpaper paving and pasting device works, the projection of laser emitted by the laser pen 2 on a wall surface is a laser line vertical to a horizontal plane, and the lenses of the first intelligent camera 1 and the second intelligent camera 3 are right opposite to the wall surface; the first intelligent camera 1 and the second intelligent camera 3 are respectively and electrically connected with the included angle fine adjustment mechanism 5 and the displacement fine adjustment mechanism 6, and send control signals to the included angle fine adjustment mechanism 5 and the displacement fine adjustment mechanism 6; the included angle fine-tuning mechanism 5 is arranged on the automatic guide transport vehicle 4 and used for adjusting the included angle between the bottom surface of the wallpaper paving and pasting device and the horizontal plane under the driving of control signals sent by the first intelligent camera 1 and the second intelligent camera 3; and the displacement fine adjustment mechanism 6 is arranged on the automatic guide transport vehicle 4, and drives the wallpaper paving and pasting device to move in the direction parallel to the wall surface under the driving of the control signals sent by the first intelligent camera 1 and the second intelligent camera 3.
In the embodiment of the invention, the first intelligent camera 1, the second intelligent camera 3 and the laser pen 2 are arranged on the same side surface of the wallpaper paving and pasting device, and the side surface faces the wall, so that the first intelligent camera 1, the second intelligent camera 3 and the laser pen 2 are opposite to the wall, the first intelligent camera 1 and the second intelligent camera 3 directly shoot images on the wall, and laser emitted by the laser pen 2 can also be shot on the wall.
In this embodiment, the projection of the laser of laser pen 2 transmission is a laser line perpendicular to the horizontal plane at wall 100, and first intelligent camera 1 and second intelligent camera 3 can judge whether first intelligent camera 1, second intelligent camera 3 and laser pen 2 align in vertical direction according to the laser line position in the image of shooing.
In an alternative implementation of the embodiment of the invention, in operation, the plumb line set on the wall surface 100 is perpendicular to one side of the images captured by the first and second smart cameras 1, 3. With this alternative embodiment, it can be ensured that the lenses of the first and second smart cameras 1 and 3 are not skewed.
In the above alternative embodiment, further, in operation, the laser line projected on the wall surface by the laser light emitted by the laser pen 2 is parallel to the plumb line, and in the images of the first and second smart cameras 1 and 3, the laser line is located at 1/2 where the images are in the horizontal direction. Fig. 2 is a schematic diagram of the images taken by the first and second smart cameras 1 and 3 and the positions of the laser lines in the present embodiment, and as shown in fig. 2, in the wall surface 100, in the image 7 taken by the first smart camera 1 and the image 8 taken by the second smart camera 3, the position of the laser line 10 in the image 7 and the image 8 is 1/2 in the image horizontal direction, and the left half of the image 7 and the image 8 is the wallpaper 9.
In an alternative implementation of the embodiment of the invention, the automated guided vehicle 4 may have an input member. The user can input target coordinates of the automated guided vehicle 4 through the input means, so that the automated guided vehicle 4 can bring the wallpaper applicator near the edge of the wallpaper 9.
In the embodiment of the present invention, the included angle fine-tuning mechanism 5 and the displacement fine-tuning mechanism 6 may be disposed on the roof of the automated guided vehicle 4 between the automated guided vehicle 4 and the wallpaper placement device, or the wallpaper placement device may be fixed on the roof of the automated guided vehicle 4, the included angle fine-tuning mechanism 5 and the displacement fine-tuning mechanism 6 are disposed under the roof of the automated guided vehicle 4, and the included angle between the wallpaper placement device and the horizontal plane and the displacement in the horizontal direction are adjusted by adjusting the included angle between the roof of the automated guided vehicle 4 and the horizontal plane and the displacement in the horizontal direction of the roof of the automated guided vehicle 4.
In an optional implementation manner of the embodiment of the present invention, the included angle fine-tuning mechanism 5 and the displacement fine-tuning mechanism 6 may be disposed on the roof of the automated guided vehicle 4 in an overlapping manner, and in an optional implementation manner of the embodiment of the present invention, the included angle fine-tuning mechanism 5 is disposed on the roof of the automated guided vehicle 4, the displacement fine-tuning mechanism 6 is fixed on the included angle fine-tuning mechanism 5, and the bottom surface of the wallpaper laying device is fixed on the displacement fine-tuning mechanism 6. By adopting the optional embodiment, the displacement fine adjustment mechanism 6 can finely adjust the displacement of the wallpaper paving and pasting device in the direction parallel to the wall surface, and the included angle fine adjustment mechanism 5 can adjust the included angle between the displacement fine adjustment mechanism 6 and the horizontal plane so as to change the included angle between the bottom surface of the wallpaper paving and pasting device and the horizontal plane.
Of course, the present invention is not limited to this, and in practical applications, the fine displacement adjustment mechanism 6 may be fixed on the roof of the automated guided vehicle 4, the fine angle adjustment mechanism 5 is installed on the fine movement adjustment device 6, and the wallpaper placement device is installed on the fine displacement adjustment mechanism 6, and the present embodiment is not limited in this respect.
In an optional implementation manner of the embodiment of the present invention, the included angle fine-tuning mechanism 5 may include: first bottom plate 51, first drive module 52 and sloping iron screw guide rail mechanism, wherein, first drive module 52 and sloping iron screw guide rail mechanism set up on first bottom plate 51, and first bottom plate 51 is fixed on the roof of automated guided transporting vehicle 4, and first drive module 52 is connected with first intelligent camera 1 and 3 electricity of second intelligent camera, and first drive module 52 drive sloping iron screw guide rail mechanism adjusts the contained angle between the bottom surface and the horizontal plane of wall paper shop-pasting device. In this optional embodiment, since the wallpaper placement device is mounted on the displacement fine-tuning mechanism 6, the angle between the bottom surface of the wallpaper placement device and the horizontal plane is adjusted by adjusting the angle between the bottom surface of the displacement fine-tuning mechanism 6 mounted thereon and the horizontal plane.
Fig. 3 is a schematic perspective view of an alternative angle fine adjustment mechanism 5 according to an embodiment of the present invention, and fig. 4 is a left side view of the alternative angle fine adjustment mechanism 5, as shown in fig. 3 and 4, the angle fine adjustment mechanism 5 includes: a first base plate 51, a first drive module 52 (in fig. 3, the first drive module 52 is a motor), and a skew iron screw rail mechanism. Wherein, the wedge lead screw guide rail mechanism includes: the lead screw 530, the lead screw slider 533, the connecting plate 535, the bearing 537, the guide rail slider 538, the guide rail 532, the ramp 536, the bearing seat 539 and the hinge 531. As shown in fig. 3, the first base plate 51 may be fixed to a roof of the automated guided vehicle 4, one end of the screw 530 is connected to the first driving module 52, the other end of the screw is supported on the bearing block 539, the screw block 533 is fixedly connected to the connecting plate 535, two ends of the connecting plate 535 are connected to a rail block 8, the rail block 8 is installed in the rail 532, one end of the rail block 8 is fixed to a connecting rod, two ends of the connecting rod extend out of the rail 532, and two ends of the connecting rod have bearings 7 that can slide on the first base plate 51. One side of the displacement fine adjustment mechanism 6 is hinged with the included angle fine adjustment mechanism 5 through a hinge support 531, and the other side is fixed on the wedge 536. The first driving module drives the screw 530 to rotate, the screw 530 rotates to drive the screw slider 533 to move back and forth, the screw slider 533 drives the guide rail slider 538 to move back and forth in the guide rail 532 through the connecting plate 535, and therefore the bearing 7 is driven to move back and forth, the wedge 6 is pushed, and the displacement fine adjustment mechanism 6 completes inclination adjustment around the hinge 531.
Optionally, as shown in fig. 3 and 4, the included angle fine adjustment mechanism 5 may further include an anti-overturning mechanism 54 disposed on the first base plate 51 to prevent the entire machine from being turned over during the inclination adjustment.
It should be noted that the included angle fine adjustment mechanism 5 shown in fig. 3 and 4 is only an optional implementation structure, but is not limited thereto, and in a specific application, the included angle fine adjustment mechanism 5 may also adopt other implementation structures, and the specific embodiment is not limited thereto.
In an alternative implementation of the embodiment of the present invention, the displacement fine-tuning mechanism 6 may include: second bottom plate 61, second drive module 62 and lead screw fine-tuning, wherein, second drive module 62 and lead screw fine-tuning set up on second bottom plate 61, and second bottom plate 61 is fixed on contained angle fine-tuning 5, and second drive module 62 is connected with first intelligent camera 1 and second intelligent camera 3 electricity, and second drive module 62 drive lead screw fine-tuning finely tunes the displacement of wall paper paving device in the direction that is on a parallel with the wall.
In the above alternative embodiment, the fine angle adjustment mechanism 5 is configured as shown in fig. 3 and 4, and one side of the second base plate 61 may be hinged to the hinge 531, and the other side is fixed to the wedge 6.
Fig. 5 is a schematic perspective view of an alternative fine displacement adjustment mechanism 6 according to an embodiment of the present invention, and as shown in fig. 5, the fine displacement adjustment mechanism 6 may include: second bottom plate 61, second drive module 62 (in fig. 5, second drive module 62 is the motor) and lead screw fine-tuning, wherein, lead screw fine-tuning includes: rail slide 631, rail 632, lead screw 634, upper plate connection mount 635, lower plate connection mount 636, and lead screw support mount 633. Lead screw 634's one end is connected with motor 3, and the centre is supported at lead screw supporting seat 633, and the other end supports on hypoplastron connecting seat 636, and upper plate connecting seat 635 is fixed at lead screw 634, is located between hypoplastron connecting seat 636 and lead screw supporting seat 633, and upper plate connecting seat 635 and guide rail slider 631 are connected with the upper plate (wall paper paving device promptly), and motor 633 drive lead screw 4 rotates, drives upper plate connecting seat 635 horizontal migration, and guide rail slider 631 is driven, slides in guide rail 632. Thereby enabling the upper structure to be adjusted horizontally with the upper plate coupling seat 635 and the rail block 631.
It should be noted that the displacement fine adjustment mechanism 6 shown in fig. 5 is only an optional implementation structure, but is not limited to this, and in a specific application, the displacement fine adjustment mechanism 6 may also adopt other implementation structures, and the specific embodiment is not limited to this.
In an optional implementation of the embodiments of the invention, the first and second smart cameras are Charge Coupled Device (CCD) cameras. By using the CCD camera, image pixels can be directly converted into digital signals, and the edges of wallpaper can be conveniently identified.
Example 2
The embodiment provides a method for aligning wallpaper joints by using the wallpaper patchwork aligning device shown in the embodiment 1.
Fig. 6 is a flowchart of a method for aligning wallpaper seams according to this embodiment, and as shown in fig. 6, the method mainly includes the following steps:
In a specific application, before step 601 is executed, the device installation and debugging may be performed first, a plumb line is set on the wall surface, and the installation angles of the first smart camera 1 and the second smart camera 3 are adjusted, so that the plumb line becomes a perpendicular line in the camera image 7 and the camera image 8, and the levelness of the camera installation is ensured. Then install laser pen 2, adjust the installation angle of laser pen 2 for the laser line of projection at the wall is the plumb line, and is located 1/2 positions of camera image 7 and camera image 8, increases the distance between wall paper piece alignment device and the wall, and the position of laser line at the wall keeps unchangeable. In the wallpaper laying process, the AGV trolley 4 drives the wallpaper laying device to reach a given coordinate point position.
In the embodiment of the invention, in order to perform edge detection and linear capture of the wallpaper image, graying processing is performed on the image, namely, a captured color image is converted into a grayscale image. Each pixel of the color image is represented by three bytes, each byte corresponds to R, G, B components of brightness (red, green and blue), one pixel of the converted black-and-white image represents the gray value of the point by one byte, and the conversion formula is as follows:
Gray=0.3*R+0.59*G+0.11*B
wherein Gray is the Gray value of the converted black-and-white image.
Through the processing of step 601, the gray scale value of each pixel in the image can be obtained, so that a gray scale image is obtained.
Step 602, the first intelligent camera and the second intelligent camera respectively identify the obtained gray level image, and identify the edge of the wallpaper in the image.
In an optional implementation manner of the embodiment of the present invention, the first smart camera and the second smart camera may perform line recognition by using an LSD line detection method.
Specifically, the LSD line detection method mainly includes the steps of:
and 2 x 2 templates are adopted for calculating the gradient values so as to ensure the independence of the direction distribution of adjacent points. Wherein the gradient calculation formulas in the x and y directions are respectively as follows:
gx(x,y)=(i(x+1,y)+i(x+1,y+1)-i(x,y)-i(x,y+1))/2
gy(x,y)=(i(x,y+1)+i(x+1,y+1)-i(x,y)-i(x+1,y))/2
where i (x, y) is the pixel value of the x-th row and y-th column in the image.
And further obtaining a normalized gradient:
calculation of gradient direction:
ang(x,y)=arctan(gx(x,y)/(-gy(x,y))
the value of the threshold ρ may be set according to a specific application.
Step 5, taking out the point with the maximum gradient in the list as a seed point (seed), and setting the seed point as USED in the state list;
step 6, with seed as a starting point, searching for a point with a surrounding mark of UNUSED and a direction within a threshold range of [ -t, t ], and changing the state into USED; generating a rectangle R containing all the satisfied points; judging whether the class interior points meet a threshold value D, if not, truncating R into a plurality of rectangular frames until meeting; calculating NFA; changing R makes the value of NFA smaller until NFA < = 1, and if the value of NFA is large, the probability that the current event occurs in the contirio model is considered to be large, and it is considered to be part of the background. Rather, the target is considered relatively prominent (rare), and is a suitable "straight line". R is added to the output list.
When it is determined whether or not the civil war satisfies the threshold value, d = k/n may be calculated. k is the number of the similar inner points, and n is the length of R. If D > D. accepted. Otherwise, R needs to be truncated. D =0.7 may be set, so that it is ensured that the attributes of the intra-class points in the same R are similar, and it is also ensured that R is not excessively divided into small rectangles.
In this step, the value of t may be set according to the angle tolerance range, for example, t is set to 22.5 degrees.
The wallpaper edge can be identified by adopting the method.
In this embodiment, the preset reference line may be a laser line projected by the laser pen 3 on the wall surface.
And step 604, under the condition that the detected included angle is zero, the first intelligent camera and the second intelligent camera detect the distance between the identified wallpaper edge and the reference line.
And under the condition that the detected included angle is zero, the current ground is horizontal, the included angle does not need to be adjusted, and the distance between the edge of the wallpaper and the reference line is continuously detected.
In the case that the detected included angle is not zero, it indicates that the current ground is not horizontal, and the method further includes: the first intelligent camera and the second intelligent camera send corresponding included angle adjusting signals to an included angle fine-tuning mechanism of the wallpaper seam aligning device according to the size of the included angle; the included angle fine adjustment mechanism receives the included angle adjustment signal, adjusts the included angle between the bottom surface of the wallpaper paving and pasting device and the horizontal plane according to the included angle adjustment signal, and returns to the step 601 until the detected included angle is 0.
In specific application, the wallpaper seam aligning device can determine an included angle adjusting signal according to the size of an included angle, for example, if the included angle fine adjustment mechanism shown in fig. 3 and 4 is adopted, the lead screw can be determined to be required to rotate for several turns according to the size of the included angle, the inclined iron can be adjusted to adjust the included angle with the corresponding size, and the corresponding number of turns of rotation can be indicated in the included angle adjusting signal sent to the first driving module. Or, a fixed step length can be set, the first driving module rotates for a preset number of turns and rotates for a preset angle every time the first driving module receives the included angle adjusting signal, and only the rotating direction is indicated in the included angle adjusting signal.
In the embodiment of the present invention, the included angle fine adjustment mechanism may return an adjustment completion signal to the first smart camera and the second smart camera after the included angle adjustment is completed, and after receiving the signal, the first smart camera and the second smart camera return to perform step 601; alternatively, the first smart camera and the second smart camera may start timing after sending the angle adjustment signal, and return to step 601 after a certain time, which is not limited in this embodiment.
Step 605, in the case that the detected distance is zero, the first smart camera and the second smart camera send wallpaper laying operation control signals to the wallpaper laying device, and drive the wallpaper laying device to perform wallpaper laying operation.
And under the condition that the detected distance is zero, the wallpaper edge is aligned, and wallpaper pasting operation can be carried out.
In the case that the detected distance is not zero, indicating that the wallpaper edge is not aligned, the method further comprises: the first intelligent camera and the second intelligent camera send corresponding distance adjusting signals to a displacement fine-tuning mechanism of the wallpaper seam aligning device according to the detected distance; and the displacement fine adjustment mechanism receives the distance adjustment signal, drives the wallpaper paving and pasting device to move for a preset distance in the horizontal direction parallel to the wall surface according to the distance adjustment signal, and returns to the step 1.
In specific application, the wallpaper seam alignment device can determine a distance adjustment signal according to the distance, for example, if the displacement fine adjustment mechanism shown in fig. 5 is adopted, the lead screw can be determined to rotate for several turns according to the distance, the wallpaper laying device can be moved for a corresponding distance, and corresponding rotation turns can be indicated in the displacement adjustment signal sent to the second driving module. Or, a fixed step length can be set, the second driving module rotates for a preset number of turns and moves for a preset displacement every time the second driving module receives the displacement adjusting signal, and only the moving direction is indicated in the displacement adjusting signal.
In the embodiment of the present invention, the included angle fine adjustment mechanism may return an adjustment completion signal to the first smart camera and the second smart camera after the included angle adjustment is completed, and after receiving the signal, the first smart camera and the second smart camera return to perform step 601; alternatively, the first smart camera and the second smart camera may start timing after sending the angle adjustment signal, and return to step 601 after a certain time, which is not limited in this embodiment.
By the method provided by the embodiment of the invention, the automatic identification and alignment of the wallpaper edge can be realized, the wallpaper pasting efficiency is improved, and in the embodiment of the invention, two cameras are adopted for identification, so that the accuracy is improved.
Example 3
This embodiment provides a wallpaper seam alignment method, which may be applied to the first smart camera and the second smart camera described in embodiments 1 and 2, but is not limited thereto, and may also be applied to other devices, for example, the cameras in embodiments 1 and 2 may be replaced by general cameras, and images taken by the cameras are transmitted to a dedicated device, and the device executes the wallpaper seam alignment method described in this embodiment.
Fig. 7 is a flowchart of a wallpaper seam alignment method provided in this embodiment, and as shown in fig. 7, the method mainly includes the following steps:
In a specific application, the cameras as in embodiment 1 and embodiment 2 may be used to capture a wall surface and obtain a current wall surface image.
Step 702, converting the acquired wall surface image into a gray scale image.
In a specific application, the method described in embodiment 2 above may be adopted for conversion, and details are not described in this embodiment.
And 703, identifying the gray level image obtained by conversion, and identifying the edge of the wallpaper in the image.
In a specific application, the method described in embodiment 2 above may be adopted to perform wallpaper edge identification, which is not described in detail in this embodiment.
And 704, detecting an included angle between the identified wallpaper edge and a preset alignment reference line.
In this embodiment, the alignment reference line may be the laser line as described in embodiments 1 and 2, or may be a perpendicular bisector in the camera image length direction.
And under the condition that the detected included angle is zero, the paving direction of the current wallpaper paving device is parallel to the edge of the wallpaper, and adjustment is not needed.
In a case that the detected included angle is not zero, it is described that the pasting direction of the current wallpaper pasting device is not parallel to the wallpaper edge, and needs to be adjusted, and therefore, in an optional implementation manner of the embodiment of the present invention, the method further includes: and outputting a corresponding included angle adjusting signal according to the detected included angle, instructing an adjusting device to adjust the horizontal included angle of the wallpaper laying device according to the manner corresponding to the detected included angle, and returning to the step 701. In a specific application, a specific implementation manner of this step is similar to that in embodiment 2, and is not described herein again.
And 6, outputting a wallpaper paving operation control signal under the condition that the detected distance is zero, and indicating a wallpaper paving device to perform wallpaper paving operation.
And under the condition that the detected distance is 0, the spreading position of the current wallpaper spreading device is aligned with the edge of the wallpaper, and the wallpaper spreading device does not need to be adjusted.
In a case that the detected distance is not zero, it is described that the pasting position of the current wallpaper pasting device is not aligned with the edge of the wallpaper, and needs to be adjusted, so that in an optional implementation manner of the embodiment of the present invention, the method further includes: and outputting a corresponding distance adjusting signal according to the detected distance, instructing an adjusting device to drive the wallpaper laying device to move in the horizontal direction in a manner corresponding to the detected distance, and returning to the step 701. In a specific application, a specific implementation manner of this step is similar to that in embodiment 2, and is not described herein again.
Example 4
This embodiment provides a wallpaper patchwork alignment apparatus which can be used to perform the method described in embodiment 3.
Fig. 8 is a schematic structural view of a wallpaper seam alignment device provided in this embodiment, and as shown in fig. 8, the device mainly includes: the device comprises an image acquisition module 801, an image conversion module 802, an image recognition module 803, an included angle detection module 804, a distance detection module 805 and an instruction output module 806. In this embodiment, functions of each module are mainly described, and reference may be made to relevant contents in embodiments 1 to 3 for other matters.
In this embodiment, the image obtaining module 801 is configured to obtain a current wall surface image; an image conversion module 802, configured to convert the acquired wall surface image into a grayscale image; an image recognition module 803, configured to recognize the degree image obtained through conversion, and recognize a wallpaper edge in the image; an included angle detection module 804, configured to detect an included angle between the identified wallpaper edge and a preset alignment reference line; a distance detecting module 805, configured to detect a distance between the identified wallpaper edge and the alignment reference line when the detected included angle is zero; and the instruction output module 806 is configured to output a wallpaper laying operation control signal to instruct the wallpaper laying device to perform wallpaper laying operation when the detected distance is zero.
By the wallpaper seam aligning device provided by the embodiment of the invention, the wallpaper laying and pasting device can be automatically aligned, and the laying and pasting efficiency is improved.
In an optional implementation manner of the embodiment of the present invention, the instruction output module 806 is further configured to, under the condition that the detected included angle is not zero, output a corresponding included angle adjustment signal according to the size of the detected included angle, instruct an adjustment device to adjust a horizontal included angle of the wallpaper pasting device in a manner corresponding to the detected included angle, and then trigger the image acquisition module 801.
In an optional implementation manner of the embodiment of the present invention, the instruction output module 806 is further configured to, when the detected distance is not zero, output a corresponding distance adjustment signal according to the size of the detected distance, instruct the adjusting device to drive the wallpaper pasting device to move in the horizontal direction in a manner corresponding to the detected distance, and then trigger the image acquisition module 801.
In an alternative implementation of the embodiment of the present invention, the image recognition module 803 recognizes the edge of the wallpaper in the image by: and identifying the obtained gray image by adopting a line segment detection LSD algorithm, and identifying the edge of the wallpaper in the image.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a wall paper piece alignment device which characterized in that includes: a first intelligent camera, a second intelligent camera, a laser pen, an automatic guide transport vehicle, an included angle fine adjustment mechanism and a displacement fine adjustment mechanism, wherein,
a wallpaper paving and pasting device is arranged on the automatic guiding and transporting vehicle;
the first intelligent camera, the second intelligent camera and the laser pen are installed on the same side face of the shell of the wallpaper paving and pasting device, the first intelligent camera, the second intelligent camera and the laser pen are vertically aligned, the laser pen is located between the first intelligent camera and the second intelligent camera, when the wallpaper paving and pasting device works, the projection of laser emitted by the laser pen on a wall surface is a laser line vertical to a horizontal plane, and the lenses of the first intelligent camera and the second intelligent camera are opposite to the wall surface;
the first intelligent camera and the second intelligent camera are respectively and electrically connected with the included angle fine adjustment mechanism and the displacement fine adjustment mechanism, and send control signals to the included angle fine adjustment mechanism and the displacement fine adjustment mechanism;
the included angle fine-tuning mechanism is arranged on the automatic guide transport vehicle and is used for adjusting an included angle between the bottom surface of the wallpaper paving and pasting device and the horizontal plane under the driving of control signals sent by the first intelligent camera and the second intelligent camera;
the displacement fine-tuning mechanism is arranged on the automatic guide transport vehicle and is used for finely tuning the displacement of the wallpaper paving and pasting device in the direction parallel to the wall surface under the driving of control signals sent by the first intelligent camera and the second intelligent camera,
the included angle fine adjustment mechanism is arranged on the roof of the automatic guided transport vehicle, the displacement fine adjustment mechanism is fixed on the included angle fine adjustment mechanism, and the bottom surface of the wallpaper paving and pasting device is fixed on the displacement fine adjustment mechanism;
the automated guided vehicle has an input component that can bring the wallpaper placement device near the edge of the wallpaper by the automated guided vehicle with target coordinates entered into the automated guided vehicle.
2. The apparatus of claim 1, wherein the angle fine adjustment mechanism comprises: first bottom plate, first drive module and sloping iron lead screw guide rail mechanism, wherein, first drive module with sloping iron lead screw guide rail mechanism sets up on the first bottom plate, first bottom plate is fixed the roof of automated guided transporting vehicle, first drive module with first intelligent camera with the second intelligent camera electricity is connected, first drive module drive sloping iron lead screw guide rail mechanism adjusts contained angle between the bottom surface of wall paper shop pasting device and the horizontal plane.
3. The apparatus of claim 2, wherein the displacement fine adjustment mechanism comprises: second bottom plate, second drive module and lead screw fine-tuning, wherein, the second drive module with lead screw fine-tuning sets up on the second bottom plate, the second bottom plate is fixed on the contained angle fine-tuning, the second drive module with first smart camera with the second smart camera electricity is connected, the drive of second drive module lead screw fine-tuning fine setting the wall paper is spread and is pasted the device and be on a parallel with the ascending displacement in direction of wall.
4. The apparatus of any of claims 1 to 3, wherein the first and second smart cameras are Charge Coupled Device (CCD) cameras.
5. The apparatus of any one of claims 1 to 3, wherein in operation a plumb line provided on said wall surface is perpendicular to one edge of the images captured by said first and second smart cameras.
6. The apparatus of claim 5, wherein in operation, the laser line is parallel to the plumb line and in the images captured by the first and second smart cameras, the laser line is located at 1/2 where the images are in a horizontal direction.
7. A method for aligning wallpaper joints by using the wallpaper seam alignment device according to any one of claims 1 to 6, which is characterized by comprising the following steps:
step 1, a first intelligent camera and a second intelligent camera of a wallpaper seam alignment device respectively shoot images, and the shot images are subjected to image graying processing to obtain grayscale images;
step 2, the first intelligent camera and the second intelligent camera respectively identify the obtained gray level images and identify the edges of wallpaper in the images;
step 3, the first intelligent camera and the second intelligent camera respectively detect the included angle between the identified wallpaper edge and a preset reference line;
step 4, under the condition that the detected included angle is zero, the first intelligent camera and the second intelligent camera detect the distance between the identified wallpaper edge and the reference line;
and 5, under the condition that the detected distance is zero, the first intelligent camera and the second intelligent camera send wallpaper paving operation control signals to a wallpaper paving device, and the wallpaper paving device is driven to conduct wallpaper paving operation.
8. The method of claim 7, wherein in the case where the detected included angle is not zero, the method further comprises:
step 41, the first intelligent camera and the second intelligent camera send corresponding included angle adjusting signals to an included angle fine-tuning mechanism of the wallpaper seam aligning device according to the included angle;
and step 42, the included angle fine adjustment mechanism receives the included angle adjustment signal, adjusts the included angle between the bottom surface of the wallpaper paving and pasting device and the horizontal plane according to the included angle adjustment signal, and returns to the step 1.
9. The method of claim 7, wherein in the case where the detected distance is not zero, the method further comprises:
step 51, the first intelligent camera and the second intelligent camera send corresponding distance adjusting signals to a displacement fine-tuning mechanism of the wallpaper seam aligning device according to the detected distance;
and step 52, the displacement fine adjustment mechanism receives the distance adjustment signal, drives the wallpaper paving and pasting device to move for a preset distance in the horizontal direction parallel to the wall surface according to the distance adjustment signal, and returns to the step 1.
10. The method according to any one of claims 7 to 9, wherein the first and second smart cameras respectively identify the obtained grayscale images, and identify wallpaper edges in the images, including:
and the first intelligent camera and the second intelligent camera respectively adopt a line segment detection LSD algorithm to identify the obtained gray level image, and identify the edge of the wallpaper in the image.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811641050.2A CN109532311B (en) | 2018-12-29 | 2018-12-29 | Wallpaper seam aligning device and method for aligning wallpaper seams by using same |
| PCT/CN2019/130106 WO2020135884A1 (en) | 2018-12-29 | 2019-12-30 | Wallpaper laying and pasting robot, wallpaper laying and pasting method, wallpaper stitching and aligning device and wallpaper stitching and aligning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811641050.2A CN109532311B (en) | 2018-12-29 | 2018-12-29 | Wallpaper seam aligning device and method for aligning wallpaper seams by using same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109532311A CN109532311A (en) | 2019-03-29 |
| CN109532311B true CN109532311B (en) | 2021-02-09 |
Family
ID=65831357
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811641050.2A Active CN109532311B (en) | 2018-12-29 | 2018-12-29 | Wallpaper seam aligning device and method for aligning wallpaper seams by using same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109532311B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110315502A (en) * | 2019-07-31 | 2019-10-11 | 广东博智林机器人有限公司 | A kind of pose adjustment mechanism and inclination adjusting device, wall paper spreading robot |
| CN110528830A (en) * | 2019-08-30 | 2019-12-03 | 广东博智林机器人有限公司 | Metope handling machine people and its precision alignment device and accuracy correcting method |
| CN211252046U (en) * | 2019-09-12 | 2020-08-14 | 广东博智林机器人有限公司 | Robot for spreading wallpaper |
| CN110654160B (en) * | 2019-09-12 | 2021-07-27 | 广东博智林机器人有限公司 | Close mechanism and wall paper shop paste robot are pasted to wall paper shop |
| CN111197276A (en) * | 2020-01-14 | 2020-05-26 | 温州永昌建设有限公司 | Template supporting method and device for building road |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IES80709B2 (en) * | 1997-06-27 | 1998-12-16 | Karl Carey | A decorator's tool |
| GB0118625D0 (en) * | 2001-07-31 | 2001-09-19 | Douglas David | A trueing device |
| KR101598773B1 (en) * | 2010-10-21 | 2016-03-15 | (주)미래컴퍼니 | Method and device for controlling/compensating movement of surgical robot |
| CN204867861U (en) * | 2015-08-12 | 2015-12-16 | 上海先德机械工程有限公司 | Steel sheet cutting and automatic piece alignment equipment |
| CN106125738A (en) * | 2016-08-26 | 2016-11-16 | 北京航空航天大学 | A kind of identification of pallets device and method based on AGV |
| CN106500725A (en) * | 2016-09-30 | 2017-03-15 | 深圳市虚拟现实科技有限公司 | The method and system that attitude measuring is corrected automatically |
| CN107471900A (en) * | 2017-09-25 | 2017-12-15 | 浙江绿洲胶粘制品有限公司 | A kind of wallpaper for wallpaper mounting system removes bulb apparatus |
| CN108973507B (en) * | 2018-09-03 | 2020-11-10 | 义乌市凡特塑料制品有限公司 | Construction robot of environmental protection wall decorations |
| CN209904400U (en) * | 2018-12-29 | 2020-01-07 | 广东博智林机器人有限公司 | Wallpaper abutted seam aligning device |
-
2018
- 2018-12-29 CN CN201811641050.2A patent/CN109532311B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109532311A (en) | 2019-03-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109532311B (en) | Wallpaper seam aligning device and method for aligning wallpaper seams by using same | |
| CN109760463A (en) | Wallpaper piece alignment means and the method for carrying out the alignment of wallpaper seam using it | |
| CN113163186B (en) | Projection method, system and storage medium based on horizontal correction of distance sensor | |
| EP3092603B1 (en) | Dynamic updating of composite images | |
| US20080291342A1 (en) | Projection Type Video Display Apparatus | |
| US20180150972A1 (en) | System for determining position of a robot | |
| KR20170106325A (en) | Method and apparatus for multiple technology depth map acquisition and fusion | |
| CN209904400U (en) | Wallpaper abutted seam aligning device | |
| CN209888525U (en) | Wallpaper abutted seam aligning device | |
| CN105093789B (en) | Method and device for realizing keystone distortion correction of projection surface and projector | |
| CN109949728B (en) | Detection apparatus for display panel | |
| JP2009219102A (en) | Projector, multi-screen system, projector control method, project control program, and information storage medium | |
| CN103150716B (en) | Infrared image joining method | |
| CN107168001B (en) | Curtain, optical projection system and focus adjustment method | |
| CA3177784A1 (en) | Image projecting systems and methods | |
| CN111988591A (en) | Projection picture translation method and device and projection equipment | |
| US20120146949A1 (en) | Method for positioning compensation of a touch object on a touch surface of a screen and optical touch module thereof | |
| CN113141492B (en) | Wide-screen projection method and system based on camera and readable storage medium | |
| WO2019085004A1 (en) | Video splicing apparatus and method | |
| CN106352797A (en) | Method and terminal using two cameras to measure length of object | |
| CN112203070B (en) | Projection method and system based on monochromatic light emitter and readable storage medium | |
| WO2021007944A1 (en) | Method for calibrating bracket of 3d structured light module, apparatus, and device | |
| CN113670212A (en) | Dimension detection method and dimension detection device | |
| US20150116486A1 (en) | Terminal device, image measuring system and method of inspection of workpiece | |
| US8988740B2 (en) | Scanning method and apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |