CN112975979A - Ceramic tile seam beautifying robot based on artificial intelligence and control method - Google Patents

Ceramic tile seam beautifying robot based on artificial intelligence and control method Download PDF

Info

Publication number
CN112975979A
CN112975979A CN202110252014.2A CN202110252014A CN112975979A CN 112975979 A CN112975979 A CN 112975979A CN 202110252014 A CN202110252014 A CN 202110252014A CN 112975979 A CN112975979 A CN 112975979A
Authority
CN
China
Prior art keywords
image
seam beautifying
ceramic tile
chassis
seam
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110252014.2A
Other languages
Chinese (zh)
Inventor
吴刚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Three Gorges University CTGU
Original Assignee
China Three Gorges University CTGU
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China Three Gorges University CTGU filed Critical China Three Gorges University CTGU
Priority to CN202110252014.2A priority Critical patent/CN112975979A/en
Publication of CN112975979A publication Critical patent/CN112975979A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • 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
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/165—Implements for finishing work on buildings for finishing joints, e.g. implements for raking or filling joints, jointers

Abstract

The invention provides a ceramic tile seam beautifying robot based on artificial intelligence and a control method, wherein the ceramic tile seam beautifying robot comprises a chassis, wherein four corners of the bottom of the chassis are respectively provided with a universal driving mechanism for driving the whole robot to walk; one end of the top of the chassis is provided with a seam beautifying mechanism for spraying seam beautifying agent; a scanning camera mechanism for automatically identifying the gaps of the floor tiles is fixedly arranged in the middle of the top of the chassis; the other end of the top of the chassis is provided with a control box for controlling the whole robot; one end of the chassis close to the seam beautifying mechanism is connected with the binocular camera through a bracket. The robot realizes the automatic seam beautifying operation process of the ceramic tile by adopting automatic control, and improves seam beautifying efficiency while ensuring seam beautifying quality.

Description

Ceramic tile seam beautifying robot based on artificial intelligence and control method
Technical Field
The invention relates to the technical field of seam beautifying robots, in particular to a ceramic tile seam beautifying robot based on artificial intelligence and a control method.
Background
Ceramic tiles are commonly used as decorative materials in the construction industry. When tiles are applied to a building surface, it is necessary to leave gaps of a certain size between the tiles for the following reasons: 1. the ceramic tile has thermal expansion and cold contraction; 2. the size error of the ceramic tile and the human error during construction. Therefore, the gaps need to be treated when the ceramic tiles are paved. The conventional treatment method is to fill the gap with white cement. The treatment method has low cost, but the gap of the ceramic tile is easy to become dirty, mildew and breed bacteria in later use. In order to overcome the defects, more and more people adopt seam beautifying agents to fill the seams. The seam beautifying agent is a semi-fluid liquid formed by mixing an epoxy resin curing agent and a pigment, and has the advantages of attractive appearance of seams, no blackening and mildew, permeation resistance, water resistance and the like compared with the traditional seam filling material. When seam beautifying construction is carried out, the process engineering of cleaning seams, filling seam beautifying agent, pressing seams, hanging edges and the like is needed.
The existing seam beautifying construction is usually manually processed, and has the problems of low efficiency, waste of seam beautifying agent, unstable seam beautifying effect, high labor intensity of workers and the like.
When the decoration industry carries out colloidal substance to crack in ceramic tile gaps such as ground and wall surfaces of middle and high-end house decoration, most of the use manual processing so far, the manual work uses the glue gun to extrude the seam beautifying agent/gap filler, not only wastes time and energy, simultaneously because of the production of the bottom of the gap is protruding, the surface is uneven after the seam beautifying, and the appearance is influenced. And a large amount of materials are easy to overflow on the surface of the ceramic tile due to uneven coating force, so that not only is the materials wasted, but also the subsequent cleaning work is troublesome, and the process is multiple, long in time consumption, high in cost and large in waste. The existing seam beautifying robot comprises a walking chassis with walking freedom degree by means of a power device, a camera and a glue barrel which are arranged on the walking chassis, and further comprises a glue injection nozzle which is arranged behind the walking chassis and communicated with a conveying pump in the glue barrel, wherein the existing glue injection nozzle is generally fixed with the walking chassis together, the height of the glue injection nozzle from a ceramic tile cannot be adjusted according to actual needs, and the use requirement cannot be well met.
The seam beautifying robot in the prior art cannot turn, needs manual steering when needing to turn, and is inconvenient to use.
Therefore, it is necessary to propose a tile seam beautifying robot based on artificial intelligence for the above problems.
Disclosure of Invention
The invention mainly aims to solve the defects in the background technology and provide a ceramic tile seam beautifying robot based on artificial intelligence and a control method.
In order to achieve the technical features, the invention is realized as follows: the ceramic tile seam beautifying robot based on artificial intelligence comprises a chassis, wherein four corners of the bottom of the chassis are provided with universal driving mechanisms for driving the whole robot to walk; one end of the top of the chassis is provided with a seam beautifying mechanism for spraying seam beautifying agent; a scanning camera mechanism for automatically identifying the gaps of the floor tiles is fixedly arranged in the middle of the top of the chassis; the other end of the top of the chassis is provided with a control box for controlling the whole robot; one end of the chassis close to the seam beautifying mechanism is connected with the binocular camera through a bracket.
The seam beautifying mechanism comprises a first driving cylinder, a second driving cylinder, a seam beautifying agent barrel, a placing plate and an articulated rod, wherein one end of the placing plate is articulated on the chassis through the articulated rod, the first driving cylinder is articulated on the chassis, the output end of the first driving cylinder is articulated at the middle position of the placing plate, the second driving cylinder and the seam beautifying agent barrel are both arranged on the placing plate, and the output end of the second driving cylinder is fixed on an ejector rod of the seam beautifying agent barrel.
The front part of the placing plate is connected with a scraping plate through a support rod.
The universal driving mechanism comprises a servo steering motor, a wheel carrier and a wheel hub motor wheel, the wheel hub motor wheel is arranged on the wheel carrier, and the output end of the servo steering motor is fixed on the wheel carrier;
the scanning camera mechanism comprises a scanning camera, a third driving cylinder and a rotating motor, the third driving cylinder is fixedly installed at the output end of the rotating motor, the scanning camera is fixed at the output end of the third driving cylinder, and the servo steering motor, the hub motor wheel, the scanning camera, the third driving cylinder and the rotating motor are electrically connected to the control box.
The control box comprises a touch display screen, a controller, a power supply and a wireless signal transceiver, wherein the touch display screen, the power supply and the wireless signal transceiver are electrically connected with the controller, and the wireless signal transceiver is wirelessly connected with the mobile equipment terminal through a wireless network.
The seam beautifying control method of the ceramic tile seam beautifying robot based on artificial intelligence comprises the following steps:
s1: the physical mechanism of the scanning camera mechanism can remove illumination noise interference to the utmost extent, and the illumination distribution of the image acquired by the scanning camera is ensured to be balanced;
s2: acquiring image input through a scanning camera;
s3: acquiring each frame data of the image;
s4: carrying out recognition algorithm processing on the image frame;
s5: converting the tile gap pixel points identified in the image into space coordinates for accurate positioning;
s6: and the ceramic tile seam beautifying robot processes the ceramic tile seam through coordinate positioning.
Step S4 is implemented as:
s4.1: graying the image;
s4.2: image equalization;
s4.3: detecting an image edge;
s4.4: and (4) a neural network for ceramic tile gap target segmentation.
The image graying processing algorithm formula in the step S4.1 is as follows:
Gray(i,j)＝[R(i,j)+G(i,j)+B(i,j)]/3
wherein Gray (i, j) in the formula is an image stream, and the Gray value of the ith row and the j column is obtained by calculating the formula; r, G, B are representative of three channels in an image, respectively; i and j respectively represent the ith row and j column pixel points.
After the graying of the image is obtained in the step S4.2, the pixels of the image are subjected to the sequencing and classification of the gray values; obtaining the gray levels of 0-255 levels and the number of pixels of each gray level; equalizing the obtained data, brightening the brightness of the image to make the contrast between the tile gap and the color or pattern of the surrounding tiles more obvious, and calculating the gray level grouping data of the pixels by using an accumulative distribution function;
normalizing the gray level group data to obtain normalized data, substituting the normalized data into the following formula to calculate:
Figure BDA0002966448870000031
where n is the sum of the pixels in the image, njIs the number of pixels at the current gray level and L is the total number of possible gray levels in the image.
And S4.4, obtaining the pixel position of the gap in the image, establishing a coordinate mapping rule between the image and the mechanical body, and obtaining the offset coordinate of the three-dimensional coordinate with respect to the center of the mechanical body as an origin through the rule.
And step S5, performing accurate positioning by adopting a coordinate transformation algorithm, wherein step S6 selects a manual edge calculation development board, selects ROS, and then performs road planning, positioning and interpolation motion control.
The invention has the following beneficial effects:
the universal driving mechanism is provided with a servo steering motor and a hub motor wheel, the servo steering motor can realize 360-degree in-situ steering on the hub motor wheel, the scanning camera mechanism can scan a seam beautifying area, a reasonable route is planned through the controller, the binocular camera carries out image acquisition and analysis on gaps of tiles, seam beautifying of the seam beautifying mechanism is facilitated, image gray processing and path planning conversion algorithms are embedded into the controller, and seam beautifying efficiency and effect can be improved by utilizing the seam beautifying algorithms.
Drawings
The invention is further illustrated by the following figures and examples.
FIG. 1 is a flow chart of a ceramic tile seam beautifying robot seam beautifying method based on artificial intelligence provided by the invention.
Fig. 2 is a structural view of the tile seam beautifying robot based on artificial intelligence of the invention.
FIG. 3 is a front view of the universal drive mechanism of the present invention.
FIG. 4 is a side view of the universal drive mechanism of the present invention.
Fig. 5 is a structural view of the beauty sewing mechanism of the present invention.
Fig. 6 is a top view structural diagram of the beauty sewing mechanism of the present invention.
Fig. 7 is a block diagram of the connection structure of the ceramic tile seam beautifying robot module based on artificial intelligence.
In the figure: the device comprises a chassis 1, a universal driving mechanism 2, a seam beautifying mechanism 3, a scanning camera mechanism 4, a control box 5, a first driving cylinder 6, a second driving cylinder 7, a seam beautifying agent barrel 8, a placing plate 9, a hinge rod 10, a support 11, a binocular camera 12, a support rod 13, a scraper 14, a servo steering motor 15, a wheel carrier 16, a wheel hub motor wheel 17, a scanning camera 18, a third driving cylinder 19 and a rotating motor 20.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
Example 1:
as shown in fig. 1-7, the ceramic tile seam beautifying robot based on artificial intelligence comprises a chassis 1, wherein four corners of the bottom of the chassis 1 are respectively provided with a universal driving mechanism 2 for driving the whole robot to walk; one end of the top of the chassis 1 is provided with a seam beautifying mechanism 3 for spraying seam beautifying agent; a scanning camera mechanism 4 for automatically identifying the gaps of the floor tiles is fixedly arranged in the middle of the top of the chassis 1; and the other end of the top of the chassis 1 is provided with a control box 5 for controlling the whole robot. One end of the chassis 1 close to the seam beautifying mechanism 3 is connected with a binocular camera 12 through a bracket 11. By adopting the seam beautifying robot, the automatic seam beautifying operation of the ceramic tile can be realized, a manual or mechanical seam beautifying method for transmission is replaced, and the seam beautifying efficiency and quality are greatly improved. In the concrete seam beautifying process, the chassis 1 is driven to automatically travel by the universal driving mechanism 2, and the seam part is automatically identified by the scanning camera mechanism 4; automatic seam beautifying of the seam is realized through the seam beautifying mechanism 3, and the automatic working process of the whole robot is controlled through the control box 5.
Further, the seam beautifying mechanism 3 comprises a first driving cylinder 6, a second driving cylinder 7, a seam beautifying agent cylinder 8, a placing plate 9 and an articulated rod 10, one end of the placing plate 9 is articulated on the chassis 1 through the articulated rod 10, the first driving cylinder 6 is articulated on the chassis 1, the output end of the first driving cylinder 6 is articulated at the middle position of the placing plate 9, the second driving cylinder 7 and the seam beautifying agent cylinder 8 are both arranged on the placing plate 9, and the output end of the second driving cylinder 7 is fixed on a mandril of the seam beautifying agent cylinder 8. The sealing mechanism 3 can realize a specific seam beautifying operation process. In the working process, the first driving cylinder 6 is used for controlling the pitching angle of the placing plate 9, and the second driving cylinder 7 is used for controlling the extrusion of the seam beautifying agent in the seam beautifying agent cylinder 8.
Further, a scraper 14 is connected to the front of the placing plate 9 through a strut 13. The squeegee 14 described above can be used to scrape off and clean the remaining caulking agent after filling. Thereby ensuring the quality of the beautiful joint.
Further, the universal driving mechanism 2 includes a servo steering motor 15, a wheel frame 16 and a wheel hub motor wheel 17, the wheel hub motor wheel 17 is mounted on the wheel frame 16, and an output end of the servo steering motor 15 is fixed to the wheel frame 16. The universal driving mechanism 2 can be used for driving the whole chassis 1 to move. In the working process, the whole device is driven to move and walk by the wheel hub motor 17, and the wheel carrier 16 is driven by the servo steering motor 15 to realize steering.
Further, the scanning camera mechanism 4 includes a scanning camera 18, a third driving cylinder 19 and a rotating motor 20, the third driving cylinder 19 is fixedly installed at an output end of the rotating motor 20, the scanning camera 18 is fixed at an output end of the third driving cylinder 19, and the servo steering motor 15, the hub motor wheel 17, the scanning camera 18, the third driving cylinder 19 and the rotating motor 20 are electrically connected to the control box 5. The scanning camera mechanism 4 can be used for realizing the scanning of the ceramic tiles and further identifying the positions of the ceramic tile gaps, and in the working process, the ceramic tile gaps can be automatically identified through the binocular camera scanning camera 18.
Further, the control box 5 comprises a touch display screen, a controller, a power supply and a wireless signal transceiver, wherein the touch display screen, the power supply and the wireless signal transceiver are electrically connected to the controller, and the wireless signal transceiver is wirelessly connected to the mobile device terminal through a wireless network. The control box 5 configured as described above can be used to control the movement and walking of the entire apparatus.
Example 2:
referring to fig. 1, the seam beautifying control method of the ceramic tile seam beautifying robot based on artificial intelligence comprises the following steps:
s1: the physical mechanism of the scanning camera mechanism 4 can remove the illumination noise interference to the utmost extent, and the illumination distribution of the image acquired by the scanning camera 18 is ensured to be balanced;
s2: acquiring image input through the scanning camera 18;
s3: acquiring each frame data of the image;
s4: carrying out recognition algorithm processing on the image frame;
s5: converting the tile gap pixel points identified in the image into space coordinates for accurate positioning;
s6: and the ceramic tile seam beautifying robot processes the ceramic tile seam through coordinate positioning.
Step S4 is implemented as:
s4.1: graying the image;
s4.2: image equalization;
s4.3: detecting an image edge;
s4.4: and (4) a neural network for ceramic tile gap target segmentation.
The image graying processing algorithm formula in the step S4.1 is as follows:
Gray(i,j)＝[R(i,j)+G(i,j)+B(i,j)]/3
wherein Gray (i, j) in the formula is an image stream, and the Gray value of the ith row and the j column is obtained by calculating the formula; r, G, B are representative of three channels in an image, respectively; i and j respectively represent the ith row and j column pixel points.
After the graying of the image is obtained in the step S4.2, the pixels of the image are subjected to the sequencing and classification of the gray values; obtaining the gray levels of 0-255 levels and the number of pixels of each gray level; equalizing the obtained data, brightening the brightness of the image to make the contrast between the tile gap and the color or pattern of the surrounding tiles more obvious, and calculating the gray level grouping data of the pixels by using an accumulative distribution function;
normalizing the gray level group data to obtain normalized data, substituting the normalized data into the following formula to calculate:
Figure BDA0002966448870000061
where n is the sum of the pixels in the image, njIs the number of pixels at the current gray level and L is the total number of possible gray levels in the image.
And S4.4, obtaining the pixel position of the gap in the image, establishing a coordinate mapping rule between the image and the mechanical body, and obtaining the offset coordinate of the three-dimensional coordinate with respect to the center of the mechanical body as an origin through the rule.
And step S5, performing accurate positioning by adopting a coordinate transformation algorithm, wherein step S6 selects a manual edge calculation development board, selects ROS, and then performs road planning, positioning and interpolation motion control.
The working principle of the invention is as follows: the interference of illumination noise is removed to the utmost extent on a mechanical structure, and the illumination distribution of the image acquired by the camera is ensured to be balanced; acquiring image input through a camera; acquiring each frame data of the image; carrying out recognition algorithm processing on the image frame; converting the tile gap pixel points identified in the image into space coordinates for accurate positioning; the mechanical structure processes the ceramic tile gap through coordinate positioning; the bottom quadrangle limit of chassis 1 all is provided with universal actuating mechanism 2, beautiful seam mechanism 3 is installed at 1 upper end on the chassis, scanning camera mechanism 4 is installed at the upper end intermediate position on chassis 1, control box 5 is installed at the last another tip on chassis 1, the one end of placing board 9 articulates on chassis 1 through hinge bar 10, first driving cylinder 6 articulates and installs on chassis 1, the output of first driving cylinder 6 articulates in the intermediate position of placing board 9, second driving cylinder 7 and beautiful seam agent section of thick bamboo 8 are all installed on placing board 9, the output of second driving cylinder 7 is fixed in the ejector pin of beautiful seam agent section of thick bamboo 8, chassis 1 is close to the one end of beautiful seam mechanism 3 and passes through support 11 and connect binocular camera 12, first driving cylinder 8 of control box 5 control, second driving cylinder 7 and binocular camera 12.

Claims (10)

1. Ceramic tile beautiful seam robot based on artificial intelligence, its characterized in that: the robot comprises a chassis (1), wherein four corners of the bottom of the chassis (1) are respectively provided with a universal driving mechanism (2) for driving the whole robot to walk; one end of the top of the chassis (1) is provided with a seam beautifying mechanism (3) for spraying seam beautifying agent; a scanning camera mechanism (4) for automatically identifying the gaps of the floor tiles is fixedly arranged in the middle of the top of the chassis (1); the other end of the top of the chassis (1) is provided with a control box (5) for controlling the whole robot; one end of the chassis (1) close to the seam beautifying mechanism (3) is connected with a binocular camera (12) through a bracket (11).
2. The artificial intelligence based ceramic tile seam beautifying robot according to claim 1, characterized in that: beautiful seam mechanism (3) including first driving cylinder (6), second driving cylinder (7), beautiful seam agent section of thick bamboo (8), place board (9) and hinge bar (10), the one end of placing board (9) articulates through hinge bar (10) on chassis (1), first driving cylinder (6) are articulated to be installed on chassis (1), the output of first driving cylinder (6) articulate in place the intermediate position of board (9), second driving cylinder (7) and beautiful seam agent section of thick bamboo (8) are all installed place on board (9), the output of second driving cylinder (7) is fixed in the ejector pin of beautiful seam agent section of thick bamboo (8).
3. The artificial intelligence based ceramic tile seam beautifying robot according to claim 2, characterized in that: the front part of the placing plate (9) is connected with a scraper (14) through a support rod (13).
4. The artificial intelligence based ceramic tile seam beautifying robot according to claim 1, characterized in that: the universal driving mechanism (2) comprises a servo steering motor (15), a wheel carrier (16) and a wheel hub motor wheel (17), the wheel hub motor wheel (17) is installed on the wheel carrier (16), and the output end of the servo steering motor (15) is fixed on the wheel carrier (16);
the scanning camera mechanism (4) comprises a scanning camera (18), a third driving cylinder (19) and a rotating motor (20), the third driving cylinder (19) is fixedly installed at the output end of the rotating motor (20), the scanning camera (18) is fixed at the output end of the third driving cylinder (19), and the servo steering motor (15), the hub motor wheel (17), the scanning camera (18), the third driving cylinder (19) and the rotating motor (20) are electrically connected to the control box (5).
5. The artificial intelligence based ceramic tile seam beautifying robot according to claim 1, characterized in that: the control box (5) comprises a touch display screen, a controller, a power supply and a wireless signal transceiver, wherein the touch display screen, the power supply and the wireless signal transceiver are electrically connected with the controller, and the wireless signal transceiver is wirelessly connected with the mobile equipment terminal through a wireless network.
6. The seam beautifying control method of the ceramic tile seam beautifying robot based on artificial intelligence of any one of claims 1-5, characterized by comprising the following steps:
s1: the physical mechanism of the scanning camera mechanism (4) can remove illumination noise interference to the utmost extent, and the illumination distribution of the image acquired by the scanning camera (18) is ensured to be balanced;
s2: acquiring image input by a scanning camera (18);
s3: acquiring each frame data of the image;
s4: carrying out recognition algorithm processing on the image frame;
s5: converting the tile gap pixel points identified in the image into space coordinates for accurate positioning;
s6: and the ceramic tile seam beautifying robot processes the ceramic tile seam through coordinate positioning.
7. The seam beautifying control method of the ceramic tile seam beautifying robot based on artificial intelligence as claimed in claim 6, wherein the step S4 is implemented by the steps of:
s4.1: graying the image;
s4.2: image equalization;
s4.3: detecting an image edge;
s4.4: and (4) a neural network for ceramic tile gap target segmentation.
8. The seam beautifying control method of the ceramic tile seam beautifying robot based on the artificial intelligence as claimed in claim 7, wherein the image graying processing algorithm formula in the step S4.1 is as follows:
Gray(i,j)＝[R(i,j)+G(i,j)+B(i,j)]/3
wherein Gray (i, j) in the formula is an image stream, and the Gray value of the ith row and the j column is obtained by calculating the formula; r, G, B are representative of three channels in an image, respectively; i and j respectively represent the ith row and j column pixel points.
9. The seam beautifying control method of the ceramic tile seam beautifying robot based on the artificial intelligence according to the claim 7, characterized in that after the graying of the image is obtained in the step S4.2, the pixels of the image are sorted and classified according to the gray value; obtaining the gray levels of 0-255 levels and the number of pixels of each gray level; equalizing the obtained data, brightening the brightness of the image to make the contrast between the tile gap and the color or pattern of the surrounding tiles more obvious, and calculating the gray level grouping data of the pixels by using an accumulative distribution function;
normalizing the gray level group data to obtain normalized data, substituting the normalized data into the following formula to calculate:
Figure FDA0002966448860000021
where n is the sum of the pixels in the image, njIs the number of pixels at the current gray level and L is the total number of possible gray levels in the image.
And S4.4, obtaining the pixel position of the gap in the image, establishing a coordinate mapping rule between the image and the mechanical body, and obtaining the offset coordinate of the three-dimensional coordinate with respect to the center of the mechanical body as an origin through the rule.
10. The seam-beautifying control method of ceramic tile seam-beautifying robot based on artificial intelligence according to claim 7, characterized by that in step S5, a coordinate transformation algorithm is used for accurate positioning, and in step S6, an artificial edge calculation development board is selected, an ROS is selected, and then a path planning, positioning and interpolation motion control are carried out.
CN202110252014.2A 2021-03-08 2021-03-08 Ceramic tile seam beautifying robot based on artificial intelligence and control method Pending CN112975979A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110252014.2A CN112975979A (en) 2021-03-08 2021-03-08 Ceramic tile seam beautifying robot based on artificial intelligence and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110252014.2A CN112975979A (en) 2021-03-08 2021-03-08 Ceramic tile seam beautifying robot based on artificial intelligence and control method

Publications (1)

Publication Number Publication Date
CN112975979A true CN112975979A (en) 2021-06-18

Family

ID=76335965

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110252014.2A Pending CN112975979A (en) 2021-03-08 2021-03-08 Ceramic tile seam beautifying robot based on artificial intelligence and control method

Country Status (1)

Country Link
CN (1) CN112975979A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114617489A (en) * 2022-03-31 2022-06-14 东风悦享科技有限公司 Sweeper for cleaning floor gaps
CN114673328A (en) * 2022-02-22 2022-06-28 浙江理工大学 Automatic tracking and path planning seam beautifying machine
CN114972348A (en) * 2022-08-01 2022-08-30 山东尚雅建材有限公司 Seam beautifying effect detection method based on image processing
IT202100029561A1 (en) * 2021-11-23 2023-05-23 Mirco Verrando DEVICE FOR THE APPLICATION OF MATERIAL BETWEEN TILE JOINTS ON SELF-CLEANING VERTICAL SURFACES
WO2023172193A3 (en) * 2022-03-10 2023-10-26 Fabrica Robotics Pte. Ltd. Robotic grouter

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102521831A (en) * 2011-12-02 2012-06-27 南京信息工程大学 Robot vision image segmentation method based on multi-scale fractal dimension and neural network
CN106930515A (en) * 2017-03-29 2017-07-07 哈尔滨理工大学 Automatic tracking Mei Feng joint fillings robot
CN109057273A (en) * 2018-09-11 2018-12-21 洛阳理工学院 A kind of automatic Mei Feng robot and its application method
CN209179442U (en) * 2018-09-11 2019-07-30 王炜辰 Intelligent Mei Feng robot
CN110378376A (en) * 2019-06-12 2019-10-25 西安交通大学 A kind of oil filler object recognition and detection method based on machine vision
CN110629985A (en) * 2019-09-06 2019-12-31 三峡大学 Automatic filling construction device and method for seam beautifying agent of gaps among floor tiles
CN111502205A (en) * 2020-04-10 2020-08-07 三峡大学 Ceramic tile seam beautifying auxiliary device and using method
US20210016449A1 (en) * 2017-06-02 2021-01-21 Pixart Imaging Inc. Mobile robot performing multiple detections using image frames of same optical sensor

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102521831A (en) * 2011-12-02 2012-06-27 南京信息工程大学 Robot vision image segmentation method based on multi-scale fractal dimension and neural network
CN106930515A (en) * 2017-03-29 2017-07-07 哈尔滨理工大学 Automatic tracking Mei Feng joint fillings robot
US20210016449A1 (en) * 2017-06-02 2021-01-21 Pixart Imaging Inc. Mobile robot performing multiple detections using image frames of same optical sensor
CN109057273A (en) * 2018-09-11 2018-12-21 洛阳理工学院 A kind of automatic Mei Feng robot and its application method
CN209179442U (en) * 2018-09-11 2019-07-30 王炜辰 Intelligent Mei Feng robot
CN110378376A (en) * 2019-06-12 2019-10-25 西安交通大学 A kind of oil filler object recognition and detection method based on machine vision
CN110629985A (en) * 2019-09-06 2019-12-31 三峡大学 Automatic filling construction device and method for seam beautifying agent of gaps among floor tiles
CN111502205A (en) * 2020-04-10 2020-08-07 三峡大学 Ceramic tile seam beautifying auxiliary device and using method

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
王洋等: "智能瓷砖美缝机器人的设计", 《数字技术与应用》 *
董鹏飞: "基于位置的工业机器人视觉伺服控制系统研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT202100029561A1 (en) * 2021-11-23 2023-05-23 Mirco Verrando DEVICE FOR THE APPLICATION OF MATERIAL BETWEEN TILE JOINTS ON SELF-CLEANING VERTICAL SURFACES
WO2023094241A1 (en) * 2021-11-23 2023-06-01 Mirco Verrando Self-cleaning device for applying material between the grout lines of tiles on vertical surfaces
CN114673328A (en) * 2022-02-22 2022-06-28 浙江理工大学 Automatic tracking and path planning seam beautifying machine
WO2023172193A3 (en) * 2022-03-10 2023-10-26 Fabrica Robotics Pte. Ltd. Robotic grouter
CN114617489A (en) * 2022-03-31 2022-06-14 东风悦享科技有限公司 Sweeper for cleaning floor gaps
CN114972348A (en) * 2022-08-01 2022-08-30 山东尚雅建材有限公司 Seam beautifying effect detection method based on image processing
CN114972348B (en) * 2022-08-01 2022-09-30 山东尚雅建材有限公司 Seam beautifying effect detection method based on image processing

Similar Documents

Publication Publication Date Title
CN112975979A (en) Ceramic tile seam beautifying robot based on artificial intelligence and control method
WO2021191662A1 (en) Smart robot for preparation and painting buildings walls
CN107321523A (en) Multifunctional spraying machine people
CN109261407A (en) A kind of external coating robot manipulating task system and method
CN109306794A (en) A kind of industrial building high-wall external coating System and method for
CN106475374B (en) A kind of automatic pipe profile inner cavity flusher and control system
CN213174670U (en) Multifunctional intelligent wall surface processing robot
CN204953205U (en) From moving spraying machine people
CN110586364B (en) Industrial spraying robot based on video acquisition
CN111962829B (en) Intelligent putty knife coating equipment for building construction
CN104175309B (en) A kind of vallum robot
CN105908952A (en) Scissor type upper wall processing robot and electrical system thereof
CN205476365U (en) Intelligence paint spraying device
CN109707125A (en) A kind of wall intelligent comprehensive painting technique based on 3D spray printing
CN109778707A (en) A kind of Steel Bridge Deck casting type asphaltic mixture solid paving system of prefabricated construction
CN111395695A (en) Concrete floor construction method
CN112634362B (en) Indoor wall plastering robot vision accurate positioning method based on line laser assistance
CN210217046U (en) All-round intelligent wall painting machine of arm formula
CN103835488B (en) A kind of automatic plastering machine
CN207700629U (en) A kind of automatic cement is whitewashed a wall vehicle
CN204892214U (en) Large -scale work piece paint finishing
CN109290098A (en) A kind of door-plate spray-painting plant novel based on 3D visual scanning
CN115739438B (en) Building outer facade appearance restoration method and system based on unmanned aerial vehicle
CN107152132A (en) A kind of artificial sandstone plate and preparation method thereof
CN215829948U (en) Spraying device for decoration

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20210618

RJ01 Rejection of invention patent application after publication