CN112276934B - Control method, control device, tile paving system, storage medium and processor - Google Patents
Control method, control device, tile paving system, storage medium and processor Download PDFInfo
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- CN112276934B CN112276934B CN201910678476.3A CN201910678476A CN112276934B CN 112276934 B CN112276934 B CN 112276934B CN 201910678476 A CN201910678476 A CN 201910678476A CN 112276934 B CN112276934 B CN 112276934B
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- tile
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/52—Apparatus for laying individual preformed surfacing elements, e.g. kerbstones
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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
- E04F21/20—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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
Abstract
The application provides a control method, a device, a tile paving system, a storage medium and a processor, wherein the control method is used for at least controlling a tile paving robot to lay tiles, the tile paving robot comprises a pitching mechanism, a yawing adjusting mechanism and a mechanical arm, and the method comprises the following steps: controlling a tile paving robot to grab the tiles to be paved; controlling the pitching mechanism and the yawing adjusting mechanism to rotate, so that the preset surface of the floor tile to be laid is parallel to the mortar surface and is vertical to the thickness direction of the floor tile to be laid; controlling the mechanical arm to move so that the brick joint distance between the tile to be paved and the adjacent paved tile is within a first preset range; and controlling the mechanical arm to move in the height direction so that the distance between the floor tiles to be paved and the mortar surface in the height direction is within a second preset range. The control method enables the tile paving robot to automatically and quickly lay the floor tiles, improves the construction efficiency of tile paving, and improves the accuracy of tile paving through control.
Description
Technical Field
The application relates to the field of automation, in particular to a control method, a control device, a tile paving system, a storage medium and a processor.
Background
At present, no mature tile laying robot scheme for automatically laying the floor tiles is available in the market, and the existing method for laying the floor tiles is difficult to accurately lay the floor tiles, so that the laying efficiency is low.
The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.
Disclosure of Invention
The application mainly aims to provide a control method, a control device, a tile paving system, a storage medium and a processor, so as to solve the problem that a tile paving robot in the prior art is difficult to accurately lay tiles.
In order to achieve the above object, according to one aspect of the present application, there is provided a control method for controlling at least a tile paving robot including a pitch mechanism, a yaw adjustment mechanism, and a robot arm to lay a tile, the method including: controlling the tile paving robot to grab the tiles to be paved; controlling the pitching mechanism and the yaw adjusting mechanism to rotate so that the preset surface of the floor tile to be laid is parallel to the mortar surface and is vertical to the thickness direction of the floor tile to be laid; controlling the mechanical arm to move so that the brick gap distance between the tile to be paved and the adjacent tile paved is within a first preset range; and controlling the mechanical arm to move in the height direction so that the distance between the tile to be paved and the mortar surface in the height direction is within a second preset range.
Further, controlling the pitching mechanism and the yaw adjusting mechanism to rotate so that the predetermined surface of the floor tile to be laid is parallel to the mortar surface comprises: step A1, acquiring first position information of the floor tiles to be paved relative to an X rotating shaft and a Y rotating shaft; step A2, determining the pitch angle of the pitch mechanism and the yaw angle of the yaw adjusting mechanism according to the first position information; and A3, controlling the pitching mechanism to rotate according to the pitching angle, and controlling the yaw adjusting mechanism to rotate according to the yaw angle.
Further, after the step a3, in the case that the predetermined surface is not parallel to the mortar surface, the controlling the pitch mechanism and the yaw adjusting mechanism to rotate so that the predetermined surface of the tile to be laid is parallel to the mortar surface further comprises: repeating the steps A1 to A3 in sequence until the predetermined surface of the tile to be laid is parallel to the mortar surface.
Further, the step a1 includes: and receiving the first position information sent by the tilt sensor.
Further, before controlling the robotic arm to move such that a brickwork distance between the tile to be laid and an adjacent already laid tile is within a first predetermined range, the method further comprises: judging whether the floor tiles to be paved are within the visual field range of the image acquisition equipment or not; and controlling the mechanical arm to move the tile to be paved into the visual field range under the condition that the tile to be paved is not in the visual field range.
Further, controlling the robotic arm to move such that a brick gap distance between the tile to be laid and an adjacent already laid tile is within a first predetermined range, comprises: step C1, acquiring second position information of the floor tiles to be paved relative to the X axis, the Y axis and the Z rotation axis; a step C2 of determining an X-direction movement path of the robot arm on the X-axis, a Y-direction movement path of the robot arm on the Y-axis, and a first Z-direction movement path of the robot arm on the Z-axis, based on the second position information; and a step C3 of controlling the movement of the robot arm based on the X-direction movement path, the Y-direction movement path, and the Z-direction movement path.
Further, after the step C3, in the case that the brick joint distance is not within the first predetermined range, controlling the robot arm to move so that the brick joint distance between the tile to be laid and the adjacent tile already laid is within the first predetermined range, further comprising: repeating the steps C1 through C3 in sequence until the brickwork joint distance is within the first predetermined range.
Further, the step C1 includes: and receiving the second position information sent by a plurality of image acquisition devices.
Further, controlling the robotic arm to move in the height direction so that the distance between the tile to be laid and the mortar surface in the height direction is within a second predetermined range includes: step D1, acquiring third position information of the floor tiles to be paved relative to the Z axis; step D2, determining a second Z-direction moving path of the mechanical arm on the Z axis according to the third position information; step D3, judging whether the tile to be laid has a tile pressing phenomenon, wherein the tile pressing phenomenon is that part of the tile to be laid is positioned on the surface of the laid tile in a contacting manner in the laying process; and D4, controlling the mechanical arm to move according to the Z-direction moving path under the condition that the brick pressing phenomenon does not exist.
Further, the step D3 includes: controlling a line laser sensor to emit laser in a preset reverse direction; receiving a reflected light signal of the laser; and judging whether the brick pressing phenomenon exists or not according to the reflected light signal.
Further, in the case where the brick pressing phenomenon exists, the method further includes: and controlling the mechanical arm to move until the brick pressing phenomenon does not exist.
Further, the step D1 includes: and receiving the third position information sent by a Z-axis sensor group, wherein the sensor group comprises a point laser sensor and a PSD sensor.
According to another aspect of the present application, there is provided a control device for controlling at least a tile laying robot to lay a floor tile, the tile laying robot including a pitch mechanism, a yaw adjustment mechanism, and a robotic arm, the device comprising: the first control unit is used for controlling the tile paving robot to grab the tiles to be paved; the second control unit is used for controlling the pitching mechanism and the yaw adjusting mechanism to rotate so that the preset surface of the floor tile to be paved is parallel to the mortar surface and is vertical to the thickness direction of the floor tile to be paved; a third control unit for controlling the mechanical arm to move so that the brick seam distance between the tile to be paved and the adjacent tile paved is within a first preset range; and the fourth control unit is used for controlling the mechanical arm to move in the height direction so that the distance between the tile to be paved and the mortar surface in the height direction is within a second preset range.
According to another aspect of the application, a tile paving system is provided, comprising a tile paving robot, wherein the tile paving robot comprises an industrial personal computer, and the industrial personal computer is used for executing any one of the control methods.
Further, the tile paving robot further comprises: a suction cup fixture comprising a first surface and a second surface; the inclination angle sensor is arranged on the first surface and used for acquiring first position information of the floor tiles to be paved relative to an X rotating shaft and a Y rotating shaft; and the Z-axis sensor group is arranged on the first surface and is arranged at intervals with the tilt angle sensors, and comprises a plurality of Z-axis sensors and is used for acquiring third position information of the floor tiles to be paved relative to a Z axis.
Furthermore, the system also comprises a laser demarcation device which is used for emitting laser to provide a reference plane for the measurement of the Z-axis sensor group.
Further, the tile paving robot further comprises: a body; a fixed frame connected with the body; and the image acquisition devices are arranged on the fixed frame and are used for acquiring second position information of the tiles to be paved relative to the X axis, the Y axis and the Z rotation axis.
Further, the tile paving robot further comprises: the pitching mechanism is arranged on the first surface and used for adjusting the angle between the preset surface of the floor tile to be paved and the mortar surface; and the yaw adjusting mechanism is arranged on the first surface and is used for adjusting the angle between the preset surface of the floor tile to be paved and the mortar surface.
According to another aspect of the present application, there is provided a storage medium including a stored program, wherein the program executes any one of the control methods.
According to another aspect of the present application, there is provided a storage medium including a stored program, wherein the program executes any one of the control methods.
According to the technical scheme, in the control method, firstly, the tile paving robot is controlled to grab the floor tiles to be paved; then, controlling the pitching mechanism and the yaw adjusting mechanism to rotate so that the preset surface of the floor tile to be paved is parallel to the mortar surface; then, controlling the mechanical arm to move so that the brick joint distance between the tile to be paved and the adjacent tile paved is within a first preset range; and finally, controlling the mechanical arm to move in the height direction, so that the distance between the tile to be paved and the mortar surface in the height direction is in a second preset range. Through foretell step, the tiling robot can realize laying the ceramic tile fast automatically, has improved the efficiency of construction of tiling, and has improved the accurate nature of tiling through control.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 shows a schematic flow diagram of an embodiment of a control method according to the present application;
FIG. 2 is a schematic diagram illustrating the detection principle of the brick pressing phenomenon;
FIG. 3 shows a schematic diagram of the acquisition of the second Z-direction movement path;
FIG. 4 shows a schematic structural diagram of an embodiment of a control device according to the present application;
FIG. 5 shows a schematic view of a partial structure of a tile system of the present application; and
fig. 6-8 show schematic structural views of a tile system of the present application.
Wherein the figures include the following reference numerals:
10. a suction cup clamp; 20. a tilt sensor; 30. a point laser sensor; 40. a PSD sensor; 50. a laser demarcation device; 60. a body; 70. a fixed frame; 80. an image acquisition device; 90. a pitch mechanism; 100. a yaw adjustment mechanism; 110. and (5) a vibration leveling structure.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As mentioned in the background of the invention, prior art tile paving robots have difficulty accurately paving tiles, and to address this problem, the present application provides a control method, apparatus, tile paving system, storage medium, and processor.
According to an embodiment of the present application, a control method is provided.
Fig. 1 is a flowchart of a control method according to an embodiment of the present application. As shown in fig. 1, the method is used for controlling at least a tile paving robot to lay tiles, the tile paving robot comprises a pitching mechanism, a yaw adjusting mechanism and a mechanical arm, and the method comprises the following steps:
step S101, controlling the tile paving robot to grab the tiles to be paved;
step S102, controlling the pitching mechanism and the yawing adjusting mechanism to rotate, so that the preset surface of the floor tile to be paved is parallel to a mortar surface, and the preset surface is vertical to the thickness direction of the floor tile to be paved;
step S103, controlling the mechanical arm to move so that the brick joint distance between the floor tile to be paved and the adjacent paved floor tile is in a first preset range;
and step S104, controlling the mechanical arm to move in the height direction so that the distance between the floor tile to be paved and the mortar surface in the height direction is in a second preset range.
In the control method, firstly, a tile paving robot is controlled to grab the floor tiles to be paved; then, controlling the pitching mechanism and the yawing adjusting mechanism to rotate, so that the preset surface of the floor tile to be paved is parallel to the mortar surface; then, controlling the mechanical arm to move so that the brick joint distance between the tile to be paved and the adjacent tile paved is in a first preset range; and finally, controlling the mechanical arm to move in the height direction so that the distance between the floor tile to be paved and the mortar surface in the height direction is in a second preset range. Through foretell step, the tiling robot can realize laying the ceramic tile fast automatically, has improved the efficiency of construction of tiling, and has improved the accurate nature of tiling through control.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
The "controlling the rotation of the pitching mechanism and the yaw adjusting mechanism so that the predetermined surface of the floor tile to be laid is parallel to the mortar surface" can be realized by any feasible steps in the prior art, and a person skilled in the art can select appropriate steps to realize the above process according to actual situations. In one embodiment of the present application, the controlling the rotation of the pitching mechanism and the yaw adjusting mechanism to make the predetermined surface of the floor tile to be laid parallel to the mortar surface includes: step A1, acquiring first position information of the tiles to be laid relative to an X rotation axis and a Y rotation axis, wherein the first position information not only comprises the position information of the tiles to be laid relative to the X rotation axis, but also comprises the position information of the tiles to be laid relative to the Y rotation axis; a step a2 of determining a pitch angle of the pitch mechanism and a yaw angle of the yaw adjustment mechanism based on the first position information; step a3, controlling the rotation of the pitch mechanism according to the pitch angle, and controlling the rotation of the yaw adjustment mechanism according to the yaw angle. The method in the embodiment can more accurately adjust the position of the floor tile, and has higher efficiency.
After the step a3, there is a case where the predetermined surface is not parallel to the mortar surface, in which case, the controlling the pitching mechanism and the yaw adjusting mechanism to rotate so that the predetermined surface of the tile to be laid is parallel to the mortar surface further comprises: repeating the steps A1 to A3 until the predetermined surface of the tile is parallel to the mortar surface. This further ensures that the intended surface of the tile remains level with respect to the grout surface.
The first position information of the present application can be obtained by any feasible manner, and a person skilled in the art can select a suitable device or a suitable method to obtain the first position information according to practical situations. In an embodiment of the present application, the step a1 includes: and receiving the first position information sent by the tilt sensor. The first position information is acquired through the tilt angle sensor, so that the first position information can be acquired quickly, the accuracy of the first position information can be further guaranteed, the mode is simple, and only the tilt angle sensor is required to be installed on the tile paving robot.
In another embodiment of the present application, the step a1 includes: and receiving first position information sent by the PSD sensor, namely the first position information comprises two parts, one part is sent by the inclination angle sensor, and the other part is sent by the PSD sensor, so that the pitching angle of the pitching mechanism and the yawing angle of the yawing adjusting mechanism can be further accurately determined according to data sent by the PSD sensor, and then the pitching mechanism and the yawing adjusting mechanism can be further accurately adjusted according to the data, so that the preset surface of the floor tile to be laid is parallel to the mortar surface.
In order to more efficiently and accurately lay the tiles, in an embodiment of the present application, before controlling the robot arm to move so that the gap distance between the tile to be laid and the adjacent tile already laid is within a first predetermined range, the method further includes: judging whether the floor tiles to be paved are within the visual field range of a plurality of image acquisition devices; and controlling the mechanical arm to move the tiles to be paved to the visual field range under the condition that the tiles to be paved are not in the visual field range.
In one embodiment of the present application, the controlling the robot arm to move so that the brick gap distance between the tile to be laid and the adjacent tile to be laid is within a first predetermined range may be implemented by any feasible steps, and the controlling the robot arm to move so that the brick gap distance between the tile to be laid and the adjacent tile to be laid is within a first predetermined range includes: step C1, obtaining second position information of the tiles to be laid relative to the X axis, the Y axis and the Z rotation axis, wherein the second position information comprises position information of the tiles to be laid relative to the X axis, position information of the tiles to be laid relative to the Y axis and position information of the tiles to be laid relative to the Z rotation axis; a step C2 of determining an X-direction movement path of the robot arm on the X-axis, a Y-direction movement path of the robot arm on the Y-axis, and a first Z-direction movement path of the robot arm on the Z-axis, based on the second position information; and a step C3 of controlling the movement of the robot arm based on the X-direction movement path, the Y-direction movement path, and the Z-direction movement path.
In order to further ensure that the brick joint distance is within the first predetermined range, in an embodiment of the present application, after the step C3, in a case that the brick joint distance is not within the first predetermined range, the method further includes controlling the robot arm to move so that the brick joint distance between the tile to be laid and the adjacent tile already laid is within the first predetermined range: repeating the steps C1 through C3 in sequence until the brickwork joint distance is within the first predetermined range.
The second position information of the present application can be obtained by any feasible method or device, and a person skilled in the art can select a suitable device or method according to practical situations. In a specific embodiment of the present application, the step C1 includes: and receiving the second position information sent by a plurality of image acquisition devices.
The above-mentioned "controlling the robotic arm to move in the height direction so that the distance between the tile to be laid and the mortar surface in the height direction is within the second predetermined range" can be realized by any feasible method, and a person skilled in the art can select an appropriate step to realize the process according to actual situations. In one embodiment of the present application, controlling the robot arm to move in the height direction so that the distance between the tile to be laid and the mortar surface in the height direction is within a second predetermined range includes: step D1, acquiring third position information of the floor tiles to be paved relative to the Z axis; a step D2 of determining a second Z-direction movement path of the robot arm on the Z-axis based on the third position information; step D3, determining whether the tile to be laid has a tile pressing phenomenon, wherein the tile pressing phenomenon is that part of the tile to be laid is positioned on the surface of the already laid tile in a contacting manner in the laying process; and D4, controlling the mechanical arm to move according to the Z-direction moving path under the condition that the brick pressing phenomenon does not exist, thereby finishing the paving of the floor tiles. In the method, in the process, the detection of the brick pressing phenomenon is added, so that the final paving accuracy is higher.
In order to more efficiently determine whether the brick pressing phenomenon is stored when the brick is moved along the moving path, in an embodiment of the present application, the step D3 includes: controlling a line laser sensor to emit laser in a preset reverse direction; receiving a reflected light signal of the laser; and judging whether the brick pressing phenomenon exists or not according to the reflected light signal. As shown in fig. 2, the reflected light new signal includes three parts when there is no brick pressing phenomenon, and the reflected light includes two parts when there is a brick pressing phenomenon. Therefore, whether the brick pressing phenomenon exists can be judged according to the condition of the reflected light signal.
To further ensure that the tiles to be laid are accurately laid in the predetermined area, in one embodiment of the present application, the step D1 includes: and receiving the third position information sent by a Z-axis sensor group, wherein the sensor group comprises a point laser sensor and a PSD sensor.
In fact, the step D1 includes: receiving a total distance D, wherein the total distance is the distance between the global standard ground and a reference plane determined by a laser demarcation device; receiving a first distance D' of the PSD sensor, wherein the first distance is the distance between the PSD sensor and a reference plane; receiving a second distance L between the point laser sensor and the floor tile to be laid, where as shown in fig. 3, the point laser sensor and the PSD sensor are located on the same plane (at the same height), and therefore, the second distance is also the distance between the PSD sensor and the floor tile to be laid; finally, third position information is calculated according to at least the total distance, the first distance and the second distance, and for the structure in fig. 3, the third position information is the distance between the tile to be laid and the global standard ground on the Z axis, which is D-D' -L. Of course, in the case where the point laser sensor and the PSD sensor are not located on the same plane, it is necessary to calculate the third position information based on the distance between the point laser sensor and the PSD sensor on the Z-axis. Also shown in fig. 3 is a suction cup fixture 10.
The embodiment of the present application further provides a control device, and it should be noted that the control device according to the embodiment of the present application may be used to execute the control method provided by the embodiment of the present application. The following describes a control device provided in an embodiment of the present application.
Fig. 4 is a schematic diagram of a control device according to an embodiment of the present application. As shown in fig. 4, the apparatus is used for controlling at least a tile paving robot to lay tiles, the tile paving robot comprises a pitching mechanism, a yaw adjusting mechanism and a mechanical arm, the apparatus comprises:
a first control unit 200 for controlling the tile-paving robot to grab the floor tiles to be paved;
a second control unit 300 for controlling the rotation of the pitching mechanism and the yaw adjusting mechanism so that a predetermined surface of the floor tile to be laid is parallel to the mortar surface, the predetermined surface being perpendicular to the thickness direction of the floor tile to be laid;
a third control unit 400 for controlling the robot arm to move so that a brick gap distance between the tile to be laid and an adjacent tile already laid is within a first predetermined range;
a fourth control unit 500, configured to control the robot arm to move in the height direction, so that the distance between the tile to be laid and the mortar surface in the height direction is within a second predetermined range.
In the control device, the first control unit controls the tile paving robot to grab the tiles to be paved; the second control unit controls the pitching mechanism and the yawing adjusting mechanism to rotate, so that the preset surface of the floor tile to be paved is parallel to the mortar surface; the third control unit controls the mechanical arm to move so that the brick joint distance between the tile to be paved and the adjacent tile paved is in a first preset range; the fourth control unit controls the mechanical arm to move in the height direction, so that the distance between the floor tile to be paved and the mortar surface in the height direction is in a second preset range. Through foretell the control unit, the tiling robot can realize laying the ceramic tile fast automatically, has improved the efficiency of construction of tiling, and has improved the accurate nature of tiling through control.
The "second control unit" may be implemented by any feasible steps in the prior art, and those skilled in the art may select appropriate steps to implement the above-mentioned process according to actual situations. In one embodiment of the present application, the control unit includes a first obtaining module, a first determining module and a first control module, wherein the first obtaining module is configured to obtain first position information of the tile to be laid with respect to an X rotation axis and a Y rotation axis, the first position information includes not only position information of the tile to be laid with respect to the X rotation axis but also position information of the tile to be laid with respect to the Y rotation axis; the first determining module is used for determining the pitching angle of the pitching mechanism and the yawing angle of the yawing adjusting mechanism according to the first position information; the first control module controls the pitching mechanism to rotate according to the pitching angle and controls the yaw adjusting mechanism to rotate according to the yaw angle. The device in this embodiment can adjust the position of ceramic tile more accurately, and efficiency is higher.
In the above solution, it is finally possible that the predetermined surface is not made parallel to the mortar surface, in which case the second control unit further comprises a second control module for controlling the first obtaining module, the first determining module and the first control module to be executed a plurality of times in sequence until the predetermined surface of the tile to be laid is parallel with respect to the mortar surface. This further ensures that the intended surface of the tile remains level with respect to the grout surface.
The first location information of the present application can be obtained by any feasible manner, and a person skilled in the art can select a suitable device or a suitable module to obtain the first location information according to practical situations. In an embodiment of the application, the first obtaining module is configured to receive the first position information sent by the tilt sensor. The first position information is acquired through the tilt angle sensor, so that the first position information can be acquired quickly, the accuracy of the first position information can be further guaranteed, the mode is simple, and only the tilt angle sensor is required to be installed on the tile paving robot.
In order to more efficiently and accurately lay the floor tiles, in an embodiment of the application, the apparatus further includes a determining unit and a fifth control unit, wherein the determining unit is configured to determine whether the floor tiles to be laid are within the visual fields of the image capturing devices before controlling the mechanical arm to move so that the distance between the floor tiles to be laid and the adjacent floor tiles to be laid is within a first predetermined range; and the fifth control unit is used for controlling the mechanical arm to move so as to move the floor tiles to be paved into the visual field range under the condition that the floor tiles to be paved are not in the visual field range.
The third control unit of the present application can be implemented by any feasible steps, and in an embodiment of the present application, the third control unit includes a second obtaining module, a second determining module and a third control module, wherein the second obtaining module is configured to obtain second position information of the tile to be laid with respect to the X-axis, the Y-axis and the Z-rotation axis, and similarly, the second position information includes position information of the tile to be laid with respect to the X-axis, position information of the tile to be laid with respect to the Y-axis and position information of the tile to be laid with respect to the Z-rotation axis; a second determination module configured to determine an X-direction movement path of the robot arm on the X-axis, a Y-direction movement path of the robot arm on the Y-axis, and a first Z-direction movement path of the robot arm on the Z-axis, based on the second position information; and a third control module for controlling the movement of the robot arm according to the X-direction movement path, the Y-direction movement path, and the Z-direction movement path.
In order to further ensure that the brick seam distance is within the first predetermined range, in an embodiment of the application, the third control unit further includes a fourth control module, configured to control the second obtaining module, the second determining module and the third control module to execute in sequence until the brick seam distance is within the first predetermined range, when the brick seam distance is not within the first predetermined range.
The second position information of the present application can be obtained by any feasible device or equipment, and a person skilled in the art can select a suitable device or equipment according to practical situations. In a specific embodiment of the present application, the second obtaining module is further configured to receive the second location information sent by a plurality of image capturing devices.
The above-mentioned "fourth control unit" can be implemented by any feasible means, and those skilled in the art can select appropriate steps to implement the process according to actual situations. In one embodiment of the present application, the fourth control unit includes: the third acquisition module is used for acquiring third position information of the floor tiles to be paved relative to a Z axis; the third determining module is used for determining a second Z-direction moving path of the mechanical arm on the Z axis according to the third position information; the judging module is used for judging whether the floor tiles to be laid have the brick pressing phenomenon, wherein the brick pressing phenomenon is that part of the floor tiles to be laid are positioned on the surface of the laid floor tiles in a contacting manner in the laying process; and under the condition that the brick pressing phenomenon does not exist, the fifth control module controls the mechanical arm to move according to the Z-direction moving path, so that the floor tiles are paved. In the device in the process, the detection of brick pressing phenomenon is increased, so that the final paving accuracy is higher.
In order to more efficiently judge whether the brick pressing phenomenon is stored or not when the brick pressing device moves along the moving path, in one embodiment of the application, the judging module is further used for controlling the line laser sensor to emit laser in a preset reverse direction; receiving a reflected light signal of the laser; and judging whether the brick pressing phenomenon exists or not according to the reflected light signal. As shown in fig. 2, the reflected light new signal includes three parts when there is no brick pressing phenomenon, and the reflected light includes two parts when there is a brick pressing phenomenon. Therefore, whether the brick pressing phenomenon exists can be judged according to the condition of the reflected light signal.
In order to further ensure that the floor tiles to be laid are accurately laid in the predetermined area, in an embodiment of the present application, the third obtaining module is configured to receive the third position information sent by a Z-axis sensor group, where the sensor group includes a point laser sensor and a PSD sensor.
In fact, the third obtaining module includes a first receiving submodule, a second receiving submodule, a third receiving submodule, and a calculating submodule, where the first receiving submodule is configured to receive a total distance D, and the total distance is a distance between the global standard ground and a reference plane determined by the laser demarcation device; the second receiving submodule receives a first distance D' of the PSD sensor, and the first distance is the distance between the PSD sensor and the reference plane; the third receiving submodule is used for receiving a second distance L between the point laser sensor and the floor tile to be laid, wherein the point laser sensor and the PSD sensor are located on the same plane (at the same height) as shown in fig. 3, and therefore, the second distance is also the distance between the PSD sensor and the floor tile to be laid; the calculation submodule is configured to calculate third position information at least based on the total distance, the first distance, and the second distance, where for the configuration in fig. 3, the third position information is D-D' -L, which is a distance between the tile to be laid and the global standard ground in the Z-axis. Of course, in the case where the point laser sensor and the PSD sensor are not located on the same plane, it is necessary to calculate the third position information based on the distance between the point laser sensor and the PSD sensor on the Z-axis.
The control device comprises a processor and a memory, the first control unit, the second control unit, the third control unit, the fourth control unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to one or more than one, and the floor tiles can be accurately laid by adjusting the parameters of the kernel.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a storage medium on which a program is stored, the program implementing the above-described control method when executed by a processor.
The embodiment of the invention provides a processor, which is used for running a program, wherein the control method is executed when the program runs.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:
step S101, controlling the tile paving robot to grab the tiles to be paved;
step S102, controlling the pitching mechanism and the yawing adjusting mechanism to rotate, so that the preset surface of the floor tile to be paved is parallel to a mortar surface, and the preset surface is vertical to the thickness direction of the floor tile to be paved;
step S103, controlling the mechanical arm to move so that the brick joint distance between the floor tile to be paved and the adjacent paved floor tile is in a first preset range;
and step S104, controlling the mechanical arm to move in the height direction so that the distance between the floor tile to be paved and the mortar surface in the height direction is in a second preset range.
The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:
step S101, controlling the tile paving robot to grab the tiles to be paved;
step S102, controlling the pitching mechanism and the yawing adjusting mechanism to rotate, so that the preset surface of the floor tile to be paved is parallel to a mortar surface, and the preset surface is vertical to the thickness direction of the floor tile to be paved;
step S103, controlling the mechanical arm to move so that the brick joint distance between the floor tile to be paved and the adjacent paved floor tile is in a first preset range;
and step S104, controlling the mechanical arm to move in the height direction so that the distance between the floor tile to be paved and the mortar surface in the height direction is in a second preset range.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
In another exemplary embodiment of the present application, a tile paving system is provided that includes a tile paving robot including an industrial personal computer configured to perform any one of the methods.
The brick paving system comprises the industrial personal computer, so that the brick paving efficiency of the system is higher, and the floor tiles can be accurately paved.
In order to adjust the position of the tile to be laid more conveniently and efficiently, in an embodiment of the present application, as shown in fig. 5, the tile laying robot further includes: the device comprises a sucker clamp 10, an inclination angle sensor 20 and a Z-axis sensor group, wherein the sucker clamp 10 comprises a first surface and a second surface; the tilt sensor 20 is disposed on the first surface, the tilt sensor 20 is configured to obtain first position information of the floor tile to be laid with respect to an X rotation axis and a Y rotation axis, and the second surface is disposed with a suction cup, and the suction cup is configured to suck the floor tile to be laid; and a Z-axis sensor group disposed on the first surface and spaced apart from the tilt sensor 20, the Z-axis sensor group including a plurality of Z-axis sensors and configured to acquire third position information of the tile to be laid with respect to the Z-axis.
In an embodiment of the present application, there are two Z-axis sensors, as shown in fig. 5, and the two Z-axis sensors are a point laser sensor 30 and a PSD sensor 40, respectively, and the system further includes a laser line projector 50, where the laser line projector 50 is configured to emit laser to provide a reference plane for measurement of the Z-axis sensor group.
In another embodiment of the present application, as shown in fig. 6, the robot further includes a body 60, a fixing frame 70 and a plurality of image capturing devices 80, the fixing frame 70 is connected to the body 60, and the suction cup fixture 10 is located on the fixing frame 70; a plurality of image capturing devices 80 are disposed on the fixing frame 70, and the image capturing devices 80 are configured to acquire second position information of the tiles to be laid with respect to the X-axis, the Y-axis, and the Z-axis. Figures 7 and 8 show perspective views of the tile system.
In order to more accurately adjust the tiles to be laid, as shown in fig. 5, in an embodiment of the present application, the tile laying robot further includes a pitching mechanism 90 and a yaw adjusting mechanism 100, the pitching mechanism 90 is disposed on the first surface, and the pitching mechanism 90 is used for adjusting an angle between a predetermined surface of the tiles to be laid and the mortar surface; a yaw adjusting mechanism 100 is provided on the first surface, and the yaw adjusting mechanism 100 is used for adjusting an angle between a predetermined surface of the tile to be laid and the mortar surface.
In addition, the suction cup jig of fig. 5 further includes a vibration flattening structure 110 for vibrating the tile to compact it while the tile is being laid.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
1) according to the control method, firstly, a tile paving robot is controlled to grab the floor tiles to be paved; then, controlling the pitching mechanism and the yawing adjusting mechanism to rotate, so that the preset surface of the floor tile to be paved is parallel to the mortar surface; then, controlling the mechanical arm to move so that the brick joint distance between the tile to be paved and the adjacent tile paved is in a first preset range; and finally, controlling the mechanical arm to move in the height direction so that the distance between the floor tile to be paved and the mortar surface in the height direction is in a second preset range. Through foretell step, the tiling robot can realize laying the ceramic tile fast automatically, has improved the efficiency of construction of tiling, and has improved the accurate nature of tiling through control.
2) In the control device, the first control unit controls the tile paving robot to grab the floor tiles to be paved; the second control unit controls the pitching mechanism and the yawing adjusting mechanism to rotate, so that the preset surface of the floor tile to be paved is parallel to the mortar surface; the third control unit controls the mechanical arm to move so that the brick joint distance between the tile to be paved and the adjacent tile paved is in a first preset range; the fourth control unit controls the mechanical arm to move in the height direction, so that the distance between the floor tile to be paved and the mortar surface in the height direction is in a second preset range. Through foretell the control unit, the tiling robot can realize laying the ceramic tile fast automatically, has improved the efficiency of construction of tiling, and has improved the accurate nature of tiling through control.
3) The brick paving system comprises the industrial personal computer, so that the brick paving efficiency of the system is high, and the floor tiles can be accurately paved.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (20)
1. A method of controlling at least a tile paving robot to lay a tile, the tile paving robot including a pitch mechanism, a yaw adjustment mechanism, and a robotic arm, the method comprising:
controlling the tile paving robot to grab the tiles to be paved;
controlling the pitching mechanism and the yaw adjusting mechanism to rotate so that the preset surface of the floor tile to be laid is parallel to the mortar surface and is vertical to the thickness direction of the floor tile to be laid;
controlling the mechanical arm to move so that the brick gap distance between the tile to be paved and the adjacent tile paved is within a first preset range;
and controlling the mechanical arm to move in the height direction so that the distance between the tile to be paved and the mortar surface in the height direction is within a second preset range.
2. The method of claim 1, wherein controlling the pitch mechanism and yaw adjustment mechanism to rotate such that the predetermined surface of the tile to be laid is parallel with respect to the mortar plane comprises:
step A1, acquiring first position information of the floor tiles to be paved relative to an X rotating shaft and a Y rotating shaft;
step A2, determining the pitch angle of the pitch mechanism and the yaw angle of the yaw adjusting mechanism according to the first position information;
and A3, controlling the pitching mechanism to rotate according to the pitching angle, and controlling the yaw adjusting mechanism to rotate according to the yaw angle.
3. The method of claim 2, wherein after the step a3, and in the event that the predetermined surface is not parallel to the grout surface, the controlling the pitch mechanism and the yaw adjustment mechanism to rotate such that the predetermined surface of the tile to be laid is parallel with respect to the grout surface, further comprises:
repeating the steps A1 to A3 in sequence until the predetermined surface of the tile to be laid is parallel to the mortar surface.
4. The method according to claim 2 or 3, wherein said step A1 comprises:
and receiving the first position information sent by the tilt sensor.
5. The method according to claim 1, wherein before controlling the robotic arm to move such that a brickwork joint distance between the tile to be laid and an adjacent already laid tile is within a first predetermined range, the method further comprises:
judging whether the floor tiles to be paved are within the visual field range of the image acquisition equipment or not;
and controlling the mechanical arm to move the tile to be paved into the visual field range under the condition that the tile to be paved is not in the visual field range.
6. The method of claim 5, wherein controlling the robotic arm to move such that a brickwork joint distance between the tile to be laid and an adjacent already laid tile is within a first predetermined range comprises:
step C1, acquiring second position information of the floor tiles to be paved relative to the X axis, the Y axis and the Z rotation axis;
a step C2 of determining an X-direction movement path of the robot arm on the X-axis, a Y-direction movement path of the robot arm on the Y-axis, and a first Z-direction movement path of the robot arm on the Z-axis, based on the second position information;
and a step C3 of controlling the movement of the robot arm based on the X-direction movement path, the Y-direction movement path, and the Z-direction movement path.
7. The method according to claim 6, wherein after step C3, in the event that the brickwork joint distance is not within the first predetermined range, controlling the robotic arm to move such that the brickwork joint distance between the tile to be laid and an adjacent already laid tile is within a first predetermined range, further comprising:
repeating the steps C1 through C3 in sequence until the brickwork joint distance is within the first predetermined range.
8. The method according to claim 6 or 7, wherein the step C1 comprises:
and receiving the second position information sent by a plurality of image acquisition devices.
9. The method according to claim 1, wherein controlling the robotic arm to move in the elevation direction such that the tile to be laid is within a second predetermined range of elevation distance from the mortar surface comprises:
step D1, acquiring third position information of the floor tiles to be paved relative to the Z axis;
step D2, determining a second Z-direction moving path of the mechanical arm on the Z axis according to the third position information;
step D3, judging whether the tile to be laid has a tile pressing phenomenon, wherein the tile pressing phenomenon is that part of the tile to be laid is positioned on the surface of the laid tile in a contacting manner in the laying process;
and D4, controlling the mechanical arm to move according to the Z-direction moving path under the condition that the brick pressing phenomenon does not exist.
10. The method according to claim 9, wherein the step D3 comprises:
controlling a line laser sensor to emit laser in a preset reverse direction;
receiving a reflected light signal of the laser;
and judging whether the brick pressing phenomenon exists or not according to the reflected light signal.
11. The method of claim 9, wherein in the presence of the brick pressing phenomenon, the method further comprises:
and controlling the mechanical arm to move until the brick pressing phenomenon does not exist.
12. The method according to claim 9 or 10, wherein said step D1 comprises:
and receiving the third position information sent by a Z-axis sensor group, wherein the sensor group comprises a point laser sensor and a PSD sensor.
13. A control device for controlling at least a tile laying robot to lay a floor tile, the tile laying robot including a pitch mechanism, a yaw adjustment mechanism, and a robotic arm, the device comprising:
the first control unit is used for controlling the tile paving robot to grab the tiles to be paved;
the second control unit is used for controlling the pitching mechanism and the yaw adjusting mechanism to rotate so that the preset surface of the floor tile to be paved is parallel to the mortar surface and is vertical to the thickness direction of the floor tile to be paved;
a third control unit for controlling the mechanical arm to move so that the brick seam distance between the tile to be paved and the adjacent tile paved is within a first preset range;
and the fourth control unit is used for controlling the mechanical arm to move in the height direction so that the distance between the tile to be paved and the mortar surface in the height direction is within a second preset range.
14. A tile paving system comprising a tile paving robot comprising an industrial personal computer configured to perform the control method of any one of claims 1 to 12.
15. The system of claim 14, wherein the tile paving robot further comprises:
a suction cup fixture comprising a first surface and a second surface;
the inclination angle sensor is arranged on the first surface and used for acquiring first position information of the floor tiles to be paved relative to an X rotating shaft and a Y rotating shaft;
and the Z-axis sensor group is arranged on the first surface and is arranged at intervals with the tilt angle sensors, and comprises a plurality of Z-axis sensors and is used for acquiring third position information of the floor tiles to be paved relative to a Z axis.
16. The system of claim 15, wherein there are two Z-axis sensors, which are a point laser sensor and a PSD sensor, and the system further comprises a laser line projector for emitting laser light to provide a reference plane for measurement by the Z-axis sensor group.
17. The system of claim 14, wherein the tile paving robot further comprises:
a body;
a fixed frame connected with the body;
and the image acquisition devices are arranged on the fixed frame and are used for acquiring second position information of the tiles to be paved relative to the X axis, the Y axis and the Z rotation axis.
18. The system of claim 15, wherein the tile paving robot further comprises:
the pitching mechanism is arranged on the first surface and used for adjusting the angle between the preset surface of the floor tile to be paved and the mortar surface;
and the yaw adjusting mechanism is arranged on the first surface and is used for adjusting the angle between the preset surface of the floor tile to be paved and the mortar surface.
19. A storage medium characterized by comprising a stored program, wherein the program executes the control method of any one of claims 1 to 12.
20. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute the control method according to any one of claims 1 to 12 when running.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910678476.3A CN112276934B (en) | 2019-07-25 | 2019-07-25 | Control method, control device, tile paving system, storage medium and processor |
| PCT/CN2020/104683 WO2021013261A1 (en) | 2019-07-25 | 2020-07-25 | Control method, device, and tile laying system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910678476.3A CN112276934B (en) | 2019-07-25 | 2019-07-25 | Control method, control device, tile paving system, storage medium and processor |
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| CN112276934B true CN112276934B (en) | 2022-04-22 |
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| CN113565300A (en) * | 2021-08-03 | 2021-10-29 | 王献 | Tile work device |
| CN114351991B (en) * | 2022-01-25 | 2023-09-15 | 广东博智林机器人有限公司 | Paving mechanism, paving robot and paving method compatible with wall bricks of different sizes |
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