CN109958265A - Grabbing device, patch block equipment, object space determine method and computer storage medium - Google Patents
Grabbing device, patch block equipment, object space determine method and computer storage medium Download PDFInfo
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- CN109958265A CN109958265A CN201910253962.0A CN201910253962A CN109958265A CN 109958265 A CN109958265 A CN 109958265A CN 201910253962 A CN201910253962 A CN 201910253962A CN 109958265 A CN109958265 A CN 109958265A
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- China
- Prior art keywords
- bracket
- grabbing device
- location information
- datum plane
- crawl
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Classifications
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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
- E04F21/1894—Lever-type lifters gripping the bottom edge of wall panels
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/22—Implements for finishing work on buildings for laying flooring of single elements, e.g. flooring cramps ; flexible webs
Abstract
The invention proposes a kind of grabbing device, patch block equipment, object spaces to determine method and computer storage medium, wherein grabbing device, comprising: bracket, bracket are equipped with microcontroller；At least one laser sensor is set on bracket, to detect the first location information between crawl object and laser sensor present position；Datum plane device, is electrically connected with microcontroller, to establish datum plane；Multiple photoelectric sensors, set on the edge of bracket, second location information of the grabbing device away from datum plane is determined with the range information by multiple photoelectric sensors, wherein microcontroller determines the relative position information of crawl object and datum plane by first location information and second location information.According to the technical solution of the present invention, the second location information that the first location information and photoelectric sensor got by laser sensor obtains, can comprehensive descision go out to grab object to the relative position information of datum plane, to improve crawl efficiency and crawl accuracy.
Description
Technical field
The present invention relates to technical field of construction equipment, in particular to a kind of grabbing device, a kind of patch block equipment, one
Kind object space determines method and a kind of computer readable storage medium.
Background technique
Currently, in terms of construction, being constructed using intelligent equipment since intelligent equipment enters into life gradually
Construction efficiency can be significantly improved, during carrying out patch block, the intelligent patch block equipment of the prior art only to brick body realize crawl and
Vibration is to adjust the posture of brick body, and precision is lower, can be accumulative due to low precision at this time in high-volume patch block, generate compared with
Big deviation, the effect after extreme influence patch block.
Summary of the invention
The present invention is directed to solve at least one of the technical problems existing in the prior art or related technologies.
In view of this, it is an object of the present invention to provide a kind of grabbing devices.
It is another object of the present invention to provide a kind of patch block equipment.
It is yet a further object of the present invention to provide a kind of object spaces to determine method.
It is yet a further object of the present invention to provide a kind of computer readable storage mediums.
To achieve the goals above, the first aspect of the present invention technical solution provides a kind of grabbing device, comprising: branch
Frame, bracket are equipped with microcontroller；At least one laser sensor is set on bracket, the sensing direction of each laser sensor
Towards the crawl object for being set to bracket side, believed with the first position detected between crawl object and laser sensor present position
Breath；Datum plane device, is electrically connected with microcontroller, to establish datum plane；Multiple photoelectric sensors, set on the side of bracket
Edge, each photoelectric sensor are electrically connected with microcontroller, each photoelectric sensor for determine photoelectric sensor present position away from
The range information of datum plane determines second of grabbing device away from datum plane with the range information by multiple photoelectric sensors
Location information, wherein microcontroller determines crawl object and datum plane by first location information and second location information
Relative position information.
The grabbing device proposed through the invention, by setting bracket and the microcontroller on bracket, on the one hand
The electronic component that can be disposed thereon by bracket provides carrier, on the other hand can carry out simple signal by microcontroller
Processing and control, in addition, crawl object is set to the side of bracket, by being provided with one towards crawl object on bracket
Or multiple laser sensors, it may be determined that grab the first position of object and laser sensor between the specific location on bracket out
Information, and then can realize by one or more location informations the determination of multiple first location informations, by multiple first
The comprehensive descision of confidence breath, posture and position of the crawl object on bracket that you can get it.
In addition, passing through the linkage of datum plane device and photoelectric sensor, it may be determined that go out grabbing device and datum plane
Second location information, specifically, datum plane device are electrically connected with microcontroller, to establish datum plane, then pass through multiple light
Electric transducer collective effect determines second location information of the grabbing device away from datum plane, specifically, is each set to bracket lip
The photoelectric sensor of edge can determine range information of the photoelectric sensor away from datum plane according to the signal received, due to each
The position of photoelectric sensor is all pre-fixed, so the range information by all photoelectric sensors can determine bracket
The spatially position between datum plane, and then determine the second location information of grabbing device and datum plane, in addition, logical
It crosses and photoelectric sensor is set to bracket edge, more conducively receive the information of datum plane.To sum up, it is got by laser sensor
First location information and photoelectric sensor obtain second location information, can comprehensive descision go out grab object to datum plane
Relative position information.
Wherein, when photoelectric sensor can not with datum plane device to it is corresponding when can by the entire grabbing device of movement into
Row adjustment.
Wherein, datum plane device can be connect with microcontroller electrical connection by conducting wire, can also wirelessly be connected
It connects.Similarly, photoelectric sensor can be connect with microcontroller electrical connection by conducting wire, can also wirelessly be connected.Together
Sample, laser sensor can be connect with microcontroller electrical connection by conducting wire, can also wirelessly be connected.
It is to be appreciated that datum plane is the parallel surface for grabbing the mounting plane of object, it might even be possible to by datum plane
Mounting plane as crawl object.
It is to be appreciated that the quantity of laser sensor setting is more, first location information is obtained more accurate.
Wherein, the angle between shape, crawl object and the bracket of crawl object can be determined by first location information
Etc. information, the whole relative inclination relative to datum plane of grabbing device and opposite position can be determined by second location information
It sets, relative inclination and the relative position between crawl object and datum plane can be determined by relative position information.
It needs explanatorily, datum plane device is preferably scanner, and photoelectric sensor is by receiving swashing for scanner sending
Light beam determines second location information.
Wherein, datum plane can be horizontal plane, can also be vertical plane, can also be for horizontal by any angle
Plane.
In the above-mentioned technical solutions, further includes: at least one sucker, each sucker are set to the side of bracket, and all suctions
The adsorption plane of disk is same plane, wherein crawl object realizes the connection with sucker by adsorption plane.
In the technical scheme, by being equipped with one or more suckers in the side of bracket, by the suctorial adsorption plane of institute
It is adjusted to same plane, the more conducively crawl to crawl object, when sucker quantity is multiple, multiple sucker collective effects, one
Aspect can enhance the adsorption capacity to crawl object, on the other hand be the restriction of plane by adsorption plane, so that in the process of grasping
Keep stablize, reduce due to unbalance stress and there is a phenomenon where crawl object fall.
In the above-mentioned technical solutions, further includes: at least one vibration component, be set to bracket on, and each vibration component with
Microcontroller electrical connection, position of the vibration component in response to the adjustment signal adjustment crawl object of microcontroller.
In the technical scheme, by being equipped with one or more vibration components being electrically connected with microcontroller on bracket,
When microcontroller needs the position to crawl object to adjust according to the relative position information judged before this, to corresponding vibration group
Part sends adjustment signal, it is possible to understand that ground, each vibration component are electrically connected with microcontroller, to realize that specific aim adjusts.
Wherein, vibration component can be connect with microcontroller electrical connection by conducting wire, can also wirelessly be connected.
Wherein, the position for grabbing object includes but is not limited to posture (i.e. inclination angle), the position etc. for grabbing object in space.
In the above-mentioned technical solutions, vibration component specifically includes: vibrating motor, is set on bracket；Oscillating plate is set to bracket
Close to the side of crawl object, and oscillating plate is connected with vibrating motor, to grab object by the combustion adjustment of vibrating motor
Position.
In the technical scheme, vibration component includes vibrating motor and oscillating plate, and vibrating motor is set on bracket, and
Bracket is arranged in close to the side of crawl object in the oscillating plate being connected with vibrating motor, it will be understood that passes through connected oscillating plate
And vibrating motor can be transferred to crawl object when vibrating motor vibrates by oscillating plate, so as to crawl object
Position is adjusted, and specifically, can adjust position or the posture of crawl object.
In the above-mentioned technical solutions, vibration component further include: one end of multiple guide rods, each guide rod is connected with oscillating plate；
Multiple elastic components, each elastic component are sheathed on outside guide rod, and one end of elastic component offsets with oscillating plate；Connecting plate, on connecting plate
Equipped with multiple through-holes, the other end of multiple guide rods passes through through-hole respectively and is fixedly connected with connecting plate, and the other end of elastic component with
Connecting plate offsets.
In the technical scheme, vibration component further includes the elastic rod being made of multiple guide rods and multiple elastic components, bullet
The both ends of property bar are connected respectively to oscillating plate and connecting plate, and specifically, each elastic component is sheathed on outside corresponding guide rod, guide rod
One end be connected with oscillating plate, the other ends of multiple guide rods is connected by connecting plate, the both ends of elastic component and oscillating plate and connection
Plate offsets, so that keeping the stabilization of oscillating plate when vibrating motor works.
Wherein, it should be noted that elastic component is preferably spring, and the coefficient of elasticity of spring and the Oscillation Amplitude of oscillating plate have
It closes, i.e., when coefficient of elasticity is smaller, when vibrating motor is worked with identical frequency, the Oscillation Amplitude of oscillating plate is smaller, but it is vibrated
Noise is larger, and when coefficient of elasticity is larger, the Oscillation Amplitude of oscillating plate is larger, but its vibrating noise is smaller.
In any of the above-described technical solution, the cross section of bracket is rectangle, the quantity of oscillating plate and the quantity of sucker
Identical, each oscillating plate is set to one jiao of rectangular adsorbent face, and sucker is set between two adjacent oscillating plates.
In the technical scheme, it is rectangle by limiting the cross section of bracket, oscillating plate is respectively arranged on rectangle and is inhaled
One jiao of attached face can be adjusted, it can only control by specific location of multiple oscillating plates in corner to crawl object
System works in one jiao of vibrating motor, so that the position that crawl object corresponds to the vibrating motor shifts.In addition, passing through
Quantity and the position of sucker are limited, specifically, sucker quantity is identical as the quantity of oscillating plate, and is set to two adjacent oscillating plates
Between, to reinforce the suction-operated to crawl object.
Wherein it is preferred to which the cross section of bracket is square, it is more suitable for the crawl object of square plate, for example, side
Shape ceramic tile.
It can be round, ellipse or regular polygon with ground, the cross section of bracket.
In the above-mentioned technical solutions, further includes: the quantity of photoelectric sensor is at least four, is set on each side wall of bracket
There is at least one photoelectric sensor.
In the technical scheme, by being equipped at least one photoelectric sensor on each side wall of bracket, with enhancing
Acquisition to the datum level of datum plane device, thus accuracy of the enhancing to the second location information of bracket and datum plane,
Specifically, the laser beam that datum plane device is launched.
In addition, by by photoelectric sensor dispersed placement, it may be determined that a plane, in favor of subsequent to its space position
The determination set.
In any of the above-described technical solution, further includes: obliquity sensor is set on bracket, with the inclination angle of detection support.
In the technical scheme, by being equipped with obliquity sensor on bracket, the inclination angle of bracket can be directly acquired, thus base
In first location information of the crawl object on bracket, the angle determined between crawl object and datum plane can be integrated, with
Position when conducive to subsequent needing to crawl object installation adjusts.
In any of the above-described technical solution, further includes: photographic device is set on bracket, and the camera shooting side of photographic device
Object is grabbed to direction, to determine the installation site of crawl object；Light source, set on the side of bracket direction crawl object.
In the technical scheme, by being equipped with the photographic device towards crawl object on bracket, image point can be passed through
The installation site of crawl object is determined in analysis, and the installation site determined is arranged in by that will grab object, installation can be improved
Accuracy.In addition, the clear of installation site acquisition also can be improved by being equipped with light source in side of the bracket towards crawl object
Degree, a possibility that reduce false judgment.
Wherein, photographic device can be vision camera.
Particularly, when grabbing device executes tiling task, by the setting of photographic device, adjacent grab can be effectively reduced
The gap of object is taken, to improve tiling quality.
In any of the above-described technical solution, the quantity of laser sensor is at least three, to pass through at least three lasers
Sensor determines the fixed pan of crawl object.
In the technical scheme, by limiting the quantity of laser sensor as at least three, in order to pass through wherein three
Laser sensor establishes the fixed pan of crawl object, simultaneously because the position of laser sensor is fixed, it is multiple sharp by obtaining
The position of optical sensor can also establish out the location and shape of bracket, in favor of to crawl object first position on grabbing device
The determination of information improves the accuracy of positioning.
The second aspect of the present invention technical solution provides a kind of patch block equipment, comprising: mobile device；And above-mentioned first
Any grabbing device, is connected with mobile device in aspect technical solution.
The patch block equipment proposed according to the present invention, since grabbing for above-mentioned first aspect technical solution being arranged on the mobile device
Device is taken, so the technical effect with any technical solution of above-mentioned first aspect, details are not described herein.Further, it is also possible to
It is moved construction site.
The third aspect of the present invention technical solution provides a kind of object space and determines method, is used for above-mentioned first aspect skill
Any grabbing device in art scheme, comprising: control datum plane device establishes datum plane；It is determined by multiple photoelectric sensors
Second location information corresponding to grabbing device and datum plane；It determines grabbing device by least one laser sensor and grabs
Take the first location information between object；According to first location information and second location information, determine that crawl object and benchmark are flat
The relative position information in face.
Object space according to the present invention determines method, first passes through control datum plane device and establishes datum plane, then leads to
Multiple photoelectric sensor collective effects second location information away from datum plane of determining grabbing device is crossed, is swashed by least one
Optical sensor determines the first location information of crawl object and laser sensor between the specific location on bracket, and then passes through
One or more location informations can realize the determination of multiple first location informations, be sentenced by the synthesis to multiple first location informations
It is disconnected, posture and position of the crawl object on bracket that you can get it.To sum up, the first position got by laser sensor
The second location information that information and photoelectric sensor obtain, can comprehensive descision go out to grab object to the relative position of datum plane
Information.
Wherein, the quantity of laser sensor can be for one or multiple, are one in the quantity of laser sensor
When, it only can determine that rough location information, the quantity of laser sensor is more, and determining location information is more accurate.
In the above-mentioned technical solutions, it is determined by multiple photoelectric sensors and corresponds to the second of grabbing device and datum plane
Location information specifically includes: receive that at least one photoelectric sensor in multiple photoelectric sensors determines corresponds to grabbing device
With the range information of datum plane；The second confidence for corresponding to grabbing device and datum plane is determined according to multiple range informations
Breath.
In the technical scheme, when determining second location information, each photoelectric sensor set on bracket edge according to
The signal received can determine range information of the photoelectric sensor away from datum plane, due to the position of each photoelectric sensor
Pre-fixed, so can determine by the range informations of all photoelectric sensors bracket spatially with datum plane
Between position, and then determine grabbing device and datum plane second location information, in addition, by the way that photoelectric sensor is set to
Bracket edge more conducively receives the information of datum plane.
In the above-mentioned technical solutions, the quantity of laser sensor is three, is grabbed by the determination of at least one laser sensor
It takes device and grabs the first location information between object, specifically include: determining the position of each laser sensor；According to three
The position of laser sensor determines the structural information of bracket；Crawl object is determined according to the transducing signal of three laser sensors
Structural information；First location information is determined according to the structural information of bracket and the structural information for grabbing object.
In the technical scheme, by limiting the quantity of laser sensor as three, in order to pass through three laser sensings
Device establishes the fixed pan of crawl object, that is, grabs the structural information of object, simultaneously because the position of laser sensor is fixed, leads to
It crosses and obtains the positions of multiple laser sensors and can also establish out the location and shape of bracket, the i.e. structural information of bracket, in favor of
Determination to crawl object first location information on grabbing device, improves the accuracy of positioning.
Wherein it is preferred to which three laser sensors are not conllinear.
The fourth aspect of the present invention technical solution provides a kind of computer readable storage medium, is stored thereon with computer
Program is realized when computer program is executed by processor such as any object position determination side in above-mentioned third aspect technical solution
Method.
By being stored with computer program on computer readable storage medium, when processor executes above-mentioned computer program
Can be achieved any of the above-described technical solution object space determine method, thus be provided with above-mentioned technical proposal all beneficial to imitate
Fruit, details are not described herein.
Additional aspect and advantage of the invention will become obviously in following description section, or practice through the invention
Recognize.
Detailed description of the invention
Fig. 1 shows the structural schematic diagram of grabbing device according to an embodiment of the invention；
Fig. 2 shows the structural schematic diagrams of grabbing device according to an embodiment of the invention；
Fig. 3 shows the flow diagram that object space according to an embodiment of the invention determines method；
Fig. 4 shows the flow diagram that object space according to another embodiment of the invention determines method.
Wherein, the corresponding relationship between appended drawing reference and component names of the Fig. 1 into Fig. 2 are as follows:
1 grabbing device, 10 brackets, 102 laser sensors, 104 photoelectric sensors, 106 suckers, 1082 vibrating motors,
1084 oscillating plates, 1086 guide rods, 1088 elastic components, 1090 connecting plates, 110 obliquity sensors, 112 photographic devices, 114 light sources.
Specific embodiment
It is with reference to the accompanying drawing and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
According to some embodiments of the present invention referring to Fig. 1 to Fig. 4 description.
As shown in Figure 1, the grabbing device 1 of the one embodiment proposed according to the present invention, comprising: bracket 10, on bracket 10
Equipped with microcontroller (not shown)；At least one laser sensor 102 is set on bracket 10, each laser sensor 102
Sensing direction towards the crawl object for being set to 10 side of bracket, with detection crawl object and 102 present position of laser sensor
Between first location information；Datum plane device (not shown), is electrically connected with microcontroller, to establish datum plane；
Multiple photoelectric sensors 104, set on the edge of bracket 10, each photoelectric sensor 104 is electrically connected with microcontroller, for determining
Range information of 104 present position of photoelectric sensor away from datum plane, with true by the range information of multiple photoelectric sensors 104
Determine second location information of the grabbing device 1 away from datum plane, wherein microcontroller passes through first location information and the second position
Information determines the relative position information of crawl object and datum plane.
The grabbing device 1 proposed through the invention, by the setting bracket 10 and microcontroller on bracket 10, one
The electronic component that aspect can be disposed thereon by bracket 10 provides carrier, on the other hand can be carried out simply by microcontroller
Signal processing and control, in addition, crawl object be set to bracket 10 side, by be provided with over the mount 10 towards crawl
One or more laser sensors 102 of object, it may be determined that grab object and laser sensor 102 over the mount 10 specific out
First location information between position, and then multiple first location informations can be realized really by one or more location informations
It is fixed, by the comprehensive descision to multiple first location informations, you can get it crawl object posture over the mount 10 and position.
In addition, passing through the linkage of datum plane device and photoelectric sensor 104, it may be determined that go out grabbing device 1 and benchmark is flat
The second location information in face, specifically, datum plane device are electrically connected with microcontroller, to establish datum plane, then by more
A 104 collective effect of photoelectric sensor determines second location information of the grabbing device 1 away from datum plane, specifically, Mei Geshe
Photoelectric sensor 104 in 10 edge of bracket can determine the photoelectric sensor 104 away from datum plane according to the signal received
Range information, since the position of each photoelectric sensor 104 is pre-fixed, so pass through all photoelectric sensors
104 range information can determine position of the bracket 10 spatially between datum plane, and then determine grabbing device 1 and base
The second location information of directrix plane, in addition, more conducively reception benchmark is flat by the way that photoelectric sensor 104 is set to 10 edge of bracket
The information in face.To sum up, the first location information and photoelectric sensor 104 got by laser sensor 102 obtain the
Two location informations, can comprehensive descision go out to grab object to the relative position information of datum plane, to improve crawl efficiency and grab
Take accuracy.
Wherein, when photoelectric sensor 104 can not with datum plane device to it is corresponding when can pass through the entire grabbing device of movement
1 is adjusted.
Wherein, datum plane device can be connect with microcontroller electrical connection by conducting wire, can also wirelessly be connected
It connects.Similarly, photoelectric sensor 104 can be connect with microcontroller electrical connection by conducting wire, can also wirelessly be connected.
Similarly, laser sensor 102 can be connect with microcontroller electrical connection by conducting wire, can also wirelessly be connected.
It is to be appreciated that datum plane is the parallel surface for grabbing the mounting plane of object, it might even be possible to by datum plane
Mounting plane as crawl object.
It is to be appreciated that the quantity that laser sensor 102 is arranged is more, first location information is obtained more accurate.
Wherein, the folder between shape, crawl object and the bracket 10 of crawl object can be determined by first location information
The information such as angle can determine the whole relative inclination and phase relative to datum plane of grabbing device 1 by second location information
To position, relative inclination and relative position between crawl object and datum plane can be determined by relative position information.
It needs explanatorily, datum plane device is preferably scanner, what photoelectric sensor 104 was issued by receiving scanner
Laser beam determines second location information.
Wherein, datum plane can be horizontal plane, can also be vertical plane, can also be for horizontal by any angle
Plane.
Wherein, photoelectric sensor 104 preferably uses PSD (Position Sensitive Detector, position sensor
Part).
As shown in Fig. 2, in the above-described embodiments, further includes: at least one sucker 106, each sucker 106 are set to bracket 10
Side, and the adsorption plane of all suckers 106 is same plane, wherein crawl object is realized by adsorption plane and sucker 106
Connection.
In this embodiment, by being equipped with one or more suckers 106 in the side of bracket 10, by all suckers 106
Adsorption plane is adjusted to same plane, the more conducively crawl to crawl object, when 106 quantity of sucker is multiple, multiple suckers 106
On the one hand collective effect can enhance the adsorption capacity to crawl object, be on the other hand the restriction of plane by adsorption plane, so that
Crawl during keep stablize, reduce due to unbalance stress and there is a phenomenon where crawl object fall.
On the basis of the above embodiments, further includes: at least one vibration component is set on bracket 10, and each vibration
Component is electrically connected with microcontroller, position of the vibration component in response to the adjustment signal adjustment crawl object of microcontroller.
In this embodiment, by being equipped with one or more vibration components being electrically connected with microcontroller over the mount 10,
When microcontroller needs the position to crawl object to adjust according to the relative position information judged before this, to corresponding vibration group
Part sends adjustment signal, it is possible to understand that ground, each vibration component are electrically connected with microcontroller, to realize that specific aim adjusts.
Wherein, vibration component can be connect with microcontroller electrical connection by conducting wire, can also wirelessly be connected.
Wherein, the position for grabbing object includes but is not limited to posture (i.e. inclination angle), the position etc. for grabbing object in space.
As shown in Figure 1, in the above-described embodiments, vibration component specifically includes: vibrating motor 1082 is set on bracket 10；
Oscillating plate 1084, set on bracket 10 close to the side of crawl object, and oscillating plate 1084 is connected with vibrating motor 1082, to pass through
The position of the combustion adjustment crawl object of vibrating motor 1082.
In this embodiment, vibration component includes vibrating motor 1082 and oscillating plate 1084, and vibrating motor 1082 is set
In on bracket 10, and bracket 10 is arranged in close to the side of crawl object in the oscillating plate 1084 being connected with vibrating motor 1082, can
To understand, vibration can be passed through when vibrating motor 1082 vibrates by connected oscillating plate 1084 and vibrating motor 1082
Plate 1084 is transferred to crawl object, is adjusted so as to the position to crawl object, specifically, can adjust the position of crawl object
It sets or posture.
In the above-described embodiments, vibration component further include: multiple guide rods 1086, one end of each guide rod 1086 and oscillating plate
1084 are connected；Multiple elastic components 1088, each elastic component 1088 is sheathed on outside guide rod 1086, and one end of elastic component 1088 and vibration
Movable plate 1084 offsets；Connecting plate 1090, connecting plate 1090 are equipped with multiple through-holes, and the other end of multiple guide rods 1086 passes through respectively
Through-hole is fixedly connected with connecting plate 1090, and the other end of elastic component 1088 offsets with connecting plate 1090.
In this embodiment, vibration component further includes the elasticity being made of multiple guide rods 1086 and multiple elastic components 1088
Bar, the both ends of elastic rod are connected respectively to oscillating plate 1084 and connecting plate 1090, and specifically, each elastic component 1088 is sheathed on
Outside corresponding guide rod 1086, one end of guide rod 1086 is connected with oscillating plate 1084, and the other end of multiple guide rods 1086 passes through connection
Plate 1090 is connected, and both ends and the oscillating plate 1084 and connecting plate 1090 of elastic component 1088 offset, so that vibrating motor 1082
When work, the stabilization of oscillating plate 1084 is kept.
Wherein, it should be noted that elastic component 1088 is preferably spring, the coefficient of elasticity of spring and the vibration of oscillating plate 1084
Dynamic amplitude is related, i.e., when coefficient of elasticity is smaller, when vibrating motor 1082 is worked with identical frequency, and the vibration width of oscillating plate 1084
Degree is smaller, but its vibrating noise is larger, and when coefficient of elasticity is larger, the Oscillation Amplitude of oscillating plate 1084 is larger, but its vibrating noise
It is smaller.
In the above-described embodiments, the cross section of bracket 10 is rectangle, the quantity of oscillating plate 1084 and the quantity of sucker 106
Identical, each oscillating plate 1084 is set to one jiao of rectangular adsorbent face, sucker 106 be set to two adjacent oscillating plates 1084 it
Between.
In this embodiment, it is rectangle, oscillating plate 1084 is respectively arranged on rectangular by limiting the cross section of bracket 10
One jiao of shape adsorption plane, the specific location that can grab object by 1084 pairs of multiple oscillating plates in corner are adjusted, i.e.,
The work of vibrating motor 1082 in one jiao can be only controlled, so that the position that crawl object corresponds to the vibrating motor 1082 is sent out
Raw offset.In addition, quantity and position by limiting sucker 106, specifically, the quantity of sucker 106 quantity and oscillating plate 1084
It is identical, and be set between two adjacent oscillating plates 1084, to reinforce the suction-operated to crawl object.
Wherein it is preferred to which the cross section of bracket 10 is square, it is more suitable for the crawl object of square plate, for example,
Square tile.
It can be round, ellipse or regular polygon with ground, the cross section of bracket 10.
In the above-described embodiments, further includes: the quantity of photoelectric sensor 104 is at least four, each side wall of bracket 10
It is equipped at least one photoelectric sensor 104.
In this embodiment, by being equipped at least one photoelectric sensor 104 on each side wall of bracket 10, to increase
By force to the acquisition of the datum level of datum plane device, so that enhancing is to the accurate of bracket 10 and the second location information of datum plane
Degree, specifically, the laser beam that datum plane device is launched.
In addition, by by 104 dispersed placement of photoelectric sensor, it may be determined that a plane, in favor of subsequent relatively empty to it
Between position determination.
In the above-described embodiments, further includes: obliquity sensor 110 is set on bracket 10, with the inclination angle of detection support 10.
In this embodiment, by the way that equipped with obliquity sensor 110, the inclination angle of bracket 10 can be directly acquired over the mount 10,
To the first location information based on crawl object over the mount 10, it can integrate and determine between crawl object and datum plane
Angle, position when in favor of subsequent needing to crawl object installation adjust.
As shown in Figure 1, in the above-described embodiments, further includes: photographic device 112 is set on bracket 10, and photographic device
112 camera shooting direction is towards crawl object, to determine the installation site of crawl object；Light source 114 is set to bracket 10 towards crawl
The side of object.
In this embodiment, by being equipped with the photographic device 112 towards crawl object over the mount 10, image can be passed through
The installation site of crawl object is determined in analysis, and the installation site determined is arranged in by that will grab object, installation can be improved
Accuracy.In addition, installation site acquisition also can be improved by being equipped with light source 114 in side of the bracket 10 towards crawl object
Clarity, a possibility that reduce false judgment.
Wherein, photographic device 112 can be vision camera, can also be two-dimensional laser sensor.
Particularly, it when grabbing device 1 executes tiling task, by the setting of photographic device 112, can effectively reduce adjacent
Crawl object gap, to improve tiling quality.
In any of the above-described embodiment, the quantity of laser sensor is at least three, to pass through at least three laser sensings
Device determines the fixed pan of crawl object.
In this embodiment, by limiting the quantity of laser sensor as at least three, in order to swash by wherein three
Optical sensor establishes the fixed pan of crawl object, simultaneously because the position of laser sensor is fixed, by obtaining multiple laser
The position of sensor can also establish out the location and shape of bracket, so as to crawl object, first position is believed on grabbing device
The determination of breath improves the accuracy of positioning.
Another embodiment of the invention proposes a kind of patch block equipment, comprising: mobile device；And any of the above-described implementation
The grabbing device 1 of example, is connected with mobile device.
As shown in figure 3, yet another embodiment of the present invention, which proposes a kind of object space, determines method, for any of the above-described
The grabbing device of embodiment, comprising: step S102, control datum plane device establish datum plane；Step S104, by multiple
Photoelectric sensor determines the second location information for corresponding to grabbing device and datum plane；Step S106 is swashed by least one
Optical sensor determines grabbing device and grabs the first location information between object；Step S108, according to first location information and
Second location information determines the relative position information of crawl object and datum plane.
Method is determined according to the object space of the present embodiment, is first passed through control datum plane device and is established datum plane, then
Second location information of the grabbing device away from datum plane is determined by multiple photoelectric sensor collective effects, passes through at least one
Laser sensor determines the first location information of crawl object and laser sensor between the specific location on bracket, Jin Ertong
The determination of multiple first location informations can be realized by crossing one or more location informations, pass through the synthesis to multiple first location informations
Judgement, posture and position of the crawl object on bracket that you can get it.To sum up, first got by laser sensor
The second location information that confidence breath and photoelectric sensor obtain, can comprehensive descision go out to grab object to the opposite position of datum plane
Confidence breath.
Wherein, the quantity of laser sensor can be for one or multiple, are one in the quantity of laser sensor
When, it only can determine that rough location information, the quantity of laser sensor is more, and determining location information is more accurate.
As shown in figure 4, yet another embodiment of the present invention, which proposes a kind of object space, determines method, comprising: step
S202, control datum plane device establish datum plane；Step S204 receives at least one photoelectric transfer in multiple photoelectric sensors
The range information corresponding to grabbing device and datum plane that sensor determines；Step S206, according to determining couple of multiple range informations
It should be in the second location information of grabbing device and datum plane；Step S208 determines the position of each laser sensor；Step
S210 determines that the quantity of laser sensor is three, the structural information of bracket is determined according to the position of three laser sensors；Step
Rapid S212 determines the structural information of crawl object according to the transducing signal of three laser sensors；Step S214, according to bracket
Structural information and the structural information for grabbing object determine first location information；Step S216, according to first location information and
Two location informations determine the relative position information of crawl object and datum plane.
The second location information for corresponding to grabbing device and datum plane is determined by multiple photoelectric sensors, it is specific to wrap
Include: receive that at least one photoelectric sensor in multiple photoelectric sensors determines corresponds to grabbing device at a distance from datum plane
Information；The second location information for corresponding to grabbing device and datum plane is determined according to multiple range informations.
In this embodiment, on the basis of above-described embodiment, when determining second location information, each it is set to bracket edge
Photoelectric sensor range information of the photoelectric sensor away from datum plane can determine according to the signal received, due to each light
The position of electric transducer is all pre-fixed, so the range information by all photoelectric sensors can determine that bracket exists
The spatially position between datum plane, and then determine the second location information of grabbing device and datum plane, in addition, passing through
Photoelectric sensor is set to bracket edge, more conducively receives the information of datum plane.
In addition, the quantity by limiting laser sensor is grabbed as three in order to be established by three laser sensors
The fixed pan of object grabs the structural information of object, simultaneously because the position of laser sensor is fixed, it is multiple by obtaining
The position of laser sensor can also establish out the location and shape of bracket, the i.e. structural information of bracket, in favor of to crawl object
The determination of first location information on grabbing device, improves the accuracy of positioning.
Wherein it is preferred to which three laser sensors are not conllinear.
Yet another embodiment of the present invention provides a kind of computer readable storage medium, is stored thereon with computer journey
Sequence realizes that the object space such as above-mentioned any embodiment determines method when computer program is executed by processor.
By being stored with computer program on computer readable storage medium, when processor executes above-mentioned computer program
Any of the above-described object space can be achieved and determine method, so that whole beneficial effects of above-described embodiment are provided with, it is no longer superfluous herein
It states.
According to the patch block equipment that the present embodiment proposes, since above-mentioned first aspect technical solution being arranged on the mobile device
Grabbing device 1, so the technical effect with any technical solution of above-mentioned first aspect, details are not described herein.Further, it is also possible to
It is moved at the construction field (site).
The present invention proposes the grabbing device 1 of a specific embodiment, and scanner (the i.e. plane of horizontal plane is established using four
Standard apparatus), with as shown in Figure 1, it is whole and its shape for overlooking visual angle is square in a rectangular parallelepiped shape, in grabbing device 1
Bracket 10 is equipped with eight photoelectric sensors 104, and every two is set to the same side wall of bracket 10 in eight photoelectric sensors 104
On, i.e., in square a line, to be used to determine the distance between itself and horizontal plane, to determine bracket by multiple distances
10 second location information.When selecting above-mentioned grabbing device to realize the grasping manipulation to brick body, detailed process is as follows:
1, the position of photoelectric sensor opposed jaw frame is demarcated；
2, horizontal plane is established by four scanners, it is opposite to measure jig frame (i.e. bracket) by eight photoelectric sensors
In the relative position of horizontal plane, it is able to know that the height and posture of bracket；
3, brick body surface is detected at a distance from bracket by multiple laser sensors, and then pass through multiple laser sensors
Data fit relative position of the bracket relative to brick body, in conjunction with step 1, fit brick body relative to the opposite of horizontal plane
Position；
4, by camera visual identity, system controls the shift position of bracket, thus the brickwork joint size of controlled level position；
5, the inclination angle of fixture is detected by obliquity sensor；
6, above-mentioned data are uploaded, vibrating motor is controlled by control algolithm to host computer, pass through inclining for vibration adjustment floor tile
Angle and height.
It should be understood that can be applied to the tiling of wall brick when the datum level that above-mentioned scanner is established is vertical plane.
The technical scheme of the present invention has been explained in detail above with reference to the attached drawings, the first position got by laser sensor
The second location information that information and photoelectric sensor obtain, can comprehensive descision go out to grab object to the relative position of datum plane
Information, to improve crawl efficiency and crawl accuracy.
In the present invention, term " first ", " second ", " third " are only used for the purpose of description, and should not be understood as indicating
Or imply relative importance；Term " multiple " then refers to two or more, unless otherwise restricted clearly.Term " installation ",
The terms such as " connected ", " connection ", " fixation " shall be understood in a broad sense, for example, " connection " may be a fixed connection, being also possible to can
Dismantling connection, or be integrally connected；" connected " can be directly connected, can also be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In description of the invention, it is to be understood that the instructions such as term " on ", "lower", "left", "right", "front", "rear"
Orientation or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplification is retouched
It states, rather than the device or unit of indication or suggestion meaning must have specific direction, be constructed and operated in a specific orientation,
It is thus impossible to be interpreted as limitation of the present invention.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the invention
It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or reality
Example.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples with
Suitable mode combines.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (15)
1. a kind of grabbing device characterized by comprising
Bracket, the bracket are equipped with microcontroller；
At least one laser sensor is set on the bracket, and the laser sensor is electrically connected with the microcontroller, often
The sensing direction of a laser sensor towards the crawl object for being set to the bracket side, with detect the crawl object and
First location information between the laser sensor present position；
Datum plane device is electrically connected with the microcontroller, to establish datum plane；
Multiple photoelectric sensors, set on the edge of the bracket, and each photoelectric sensor is electrically connected with the microcontroller
It connects, determines the range information of the photoelectric sensor present position away from the datum plane, to pass through multiple photoelectric sensings
The range information of device determines second location information of the grabbing device away from the datum plane,
Wherein, the microcontroller determines the crawl object by the first location information and the second location information
With the relative position information of the datum plane.
2. grabbing device according to claim 1, which is characterized in that further include:
At least one sucker, each sucker is set to the side of the bracket, and the adsorption plane of all suckers is same
Plane,
Wherein, the crawl object realizes the connection with the sucker by the adsorption plane.
3. grabbing device according to claim 2, which is characterized in that further include:
At least one vibration component is set on the bracket, and each vibration component is electrically connected with the microcontroller, institute
State the position that vibration component adjusts the crawl object in response to the adjustment signal of the microcontroller.
4. grabbing device according to claim 3, which is characterized in that the vibration component specifically includes:
Vibrating motor is set on the bracket；
Oscillating plate, set on the bracket close to the side of the crawl object, and the oscillating plate is connected with the vibrating motor,
To pass through the position for grabbing object described in the combustion adjustment of the vibrating motor.
5. grabbing device according to claim 4, which is characterized in that the vibration component further include:
One end of multiple guide rods, each guide rod is connected with the oscillating plate；
Multiple elastic components, each elastic component are sheathed on outside the guide rod, and one end of the elastic component and the oscillating plate
It offsets；
Connecting plate, the connecting plate are equipped with multiple through-holes, and the other end of multiple guide rods passes through the through-hole and institute respectively
It states connecting plate to be fixedly connected, and the other end of the elastic component offsets with the connecting plate.
6. grabbing device according to claim 4, which is characterized in that the cross section of the bracket is rectangle, the vibration
The quantity of movable plate is identical as the quantity of the sucker, and each oscillating plate is set to one jiao of rectangular adsorbent face, the sucker
Between two adjacent oscillating plates.
7. grabbing device according to claim 6, which is characterized in that further include:
The quantity of the photoelectric sensor is at least four, and each side wall of the bracket is equipped at least one described photoelectric transfer
Sensor.
8. grabbing device according to any one of claim 1 to 7, which is characterized in that further include:
Obliquity sensor is set on the bracket, to detect the inclination angle of the bracket.
9. grabbing device according to any one of claim 1 to 7, which is characterized in that further include:
Photographic device is set on the bracket, and the camera shooting direction of the photographic device is towards the crawl object, to determine
State the installation site of crawl object；
Light source, set on the bracket towards it is described crawl object side.
10. grabbing device according to any one of claim 1 to 7, which is characterized in that the quantity of the laser sensor
It is at least three, to determine the fixed pan of the crawl object by least three laser sensors.
11. a kind of patch block equipment characterized by comprising
Mobile device；
Grabbing device described in any one of claims 1 to 10 is connected with the mobile device.
12. a kind of object space determines method, for grabbing device described in any one of claims 1 to 10, feature exists
In, comprising:
Control datum plane device establishes datum plane；
The second location information for corresponding to the grabbing device and the datum plane is determined by multiple photoelectric sensors；
The grabbing device is determined by least one laser sensor and grabs the first location information between object；
According to the first location information and the second location information, the phase of the crawl object and the datum plane is determined
To location information.
13. object space according to claim 12 determines method, which is characterized in that described to pass through multiple photoelectric transfers
Sensor determines the second location information for corresponding to the grabbing device and the datum plane, specifically includes:
Receive that the photoelectric sensor of at least one in multiple photoelectric sensors determines correspond to the grabbing device with it is described
The range information of datum plane；
The second location information for corresponding to the grabbing device and the datum plane is determined according to multiple range informations.
14. object space according to claim 12 determines method, which is characterized in that the quantity of the laser sensor is
It is three, described that the grabbing device is determined by least one laser sensor and grabs the first location information between object,
It specifically includes:
Determine the position of each laser sensor；
The structural information of the bracket is determined according to the position of three laser sensors；
The structural information of the crawl object is determined according to the transducing signal of three laser sensors；
The first location information is determined according to the structural information of the structural information of the bracket and the crawl object.
15. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
Realize that the object space as described in any one of claim 12 to 14 determines method when being executed by processor.
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| CN110306771A (en) * | 2019-07-25 | 2019-10-08 | 广东博智林机器人有限公司 | The method of automatic floor tile and tile work robot device |
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