CN113445709A - Ceramic tile positioning and paving method and automatic ceramic tile paving equipment - Google Patents

Ceramic tile positioning and paving method and automatic ceramic tile paving equipment Download PDF

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CN113445709A
CN113445709A CN202110751211.9A CN202110751211A CN113445709A CN 113445709 A CN113445709 A CN 113445709A CN 202110751211 A CN202110751211 A CN 202110751211A CN 113445709 A CN113445709 A CN 113445709A
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tile
paved
pixel point
image
boundary
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王舜
周惠兴
张中岳
吕燕楠
郑晓昱
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Beijing University of Civil Engineering and Architecture
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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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/70—Denoising; Smoothing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/136—Segmentation; Edge detection involving thresholding
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30132—Masonry; Concrete

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Abstract

The invention provides a ceramic tile positioning and paving method, and belongs to the field of automatic control. The method comprises the following steps: adsorbing the ceramic tile to be paved, and moving the ceramic tile to be paved to a position above a target position of a plane to be paved; taking a local tile picture based on a limited field of view at an angle perpendicular to the plane to be tiled; analyzing the positions of the edges of the tiles in the local tile image, and calculating a displacement vector for moving the orientation of the tiles to be paved according to tile parameters; moving the tile to be paved according to the displacement vector to enable the mapping position of the tile to be paved to be coincident with the target position; laser ranging is carried out on the plane to be paved and a descending distance is calculated; moving the ceramic tile to be paved to the direction of the plane to be paved by the descending distance to ensure that the ceramic tile to be paved is paved to the target position; and stopping adsorbing the ceramic tiles to be paved. The invention also provides automatic tile paving equipment.

Description

Ceramic tile positioning and paving method and automatic ceramic tile paving equipment
Technical Field
The invention relates to the field of automatic control, in particular to a ceramic tile positioning and paving method and automatic ceramic tile paving equipment.
Background
The tile paving and pasting usually adopts a manual mode which is time-consuming and labor-consuming, the technical level of constructors is uneven, the quality can not be ensured, the labor intensity of workers who squat on the ground for a long time is high and tedious, and the health is damaged. The prior art will spread the work automation, and ceramic tile is spread and is pasted the location and adopt laser to fix a position to improve and spread the accuracy of pasting, however, the measuring method who uses laser sensor needs a plurality of laser sensor or single sensor to carry out the multiple spot measurement, and the multiple spot measurement will make the measurement process more complicated and consuming time, and efficiency is not high.
In the prior art, a depth camera is also adopted for positioning the position of the ceramic tile, the depth camera is expensive and high in cost, and the measurement precision cannot reach the precision of laser measurement.
Disclosure of Invention
In view of the above, the invention provides a tile positioning and paving method and an automatic tile paving device, which can improve tile paving quality, have low cost, accurate positioning and high efficiency, can automatically control a construction process, and can effectively prevent constructors from being injured by occupation.
The technical scheme adopted by the embodiment of the invention for solving the technical problem is as follows:
a ceramic tile positioning and paving method is characterized in that an implementation main body is automatic ceramic tile paving equipment, the automatic ceramic tile paving equipment comprises a mechanical arm, a force sensor, a CCD camera, a laser sensor, a star frame, a rubber vacuum chuck, a connecting wire, a connecting frame and a main controller, an execution end of the mechanical arm is of a cylindrical structure, the cylindrical structure penetrates through an annular steel clamp of the connecting frame and is fixedly connected with the connecting frame, and the CCD camera is installed on the connecting frame and transmits signals with the main controller through a group of connecting wires; the force sensor is connected between the tail end of the execution end and the sensor contact surface of the star frame, and signals are transmitted between the main controller and the force sensor through a group of connecting wires; the star-shaped frame is provided with hollow supports, the tail ends of the hollow supports are provided with the rubber vacuum chucks, and the main controller controls the rubber vacuum chucks to adsorb the tiles to be paved or loosen the tiles to be paved by controlling the gas circuit in the hollow supports; the laser sensor is arranged on the star frame and transmits signals with the main controller through a group of connecting wires; the main controller is used for controlling the mechanical arm, the force sensor, the CCD camera, the laser sensor and the rubber vacuum chuck;
the tile positioning and paving method comprises the following steps:
adsorbing a tile to be paved, and moving the tile to be paved to a position above a target position of a plane to be paved, wherein the tile to be paved is parallel to the plane to be paved, and a mapping position of the tile to be paved on the plane to be paved is not coincident with the target position;
taking a local tile picture based on a limited view field at an angle vertical to the plane to be paved, wherein the local tile picture comprises a local image of the tile to be paved and local images of N adjacent tiles adjacent to the target position, and N belongs to [1,2,3 ];
analyzing the positions of the edges of the tiles in the local tile image, and calculating a displacement vector for moving the orientation of the tiles to be paved according to tile parameters;
moving the tile to be paved according to the displacement vector to enable the mapping position of the tile to be paved to be coincident with the target position;
laser ranging is carried out on the plane to be paved and a descending distance is calculated;
moving the ceramic tile to be paved to the direction of the plane to be paved by the descending distance to ensure that the ceramic tile to be paved is paved to the target position;
and stopping adsorbing the ceramic tiles to be paved.
Preferably, the analyzing the positions of the edges of the tiles in the local tile image, and calculating the displacement vector for moving the orientation of the tile to be tiled according to the tile parameters includes:
converting the local tile picture to obtain a gray level image GSI;
and performing Gaussian filtering on the gray image, wherein the gray value of a single pixel point e in the gray image is as follows:
Figure BDA0003146314850000031
Figure BDA0003146314850000032
wherein, the HijA window size that is gaussian filtered, said σ being a variance, said k being a dimension of a kernel matrix;
performing gradient calculation on the filtered gray level image to obtain a first-order partial derivative G in the x direction under a two-dimensional right-angle x-o-y coordinate systemx(i, j), first partial derivative G in y directiony(i, j) and the gradient direction angle alpha of the pixel point e;
Figure BDA0003146314850000033
α(i，j)＝arctan(Gy(i，j)/Gx(i，j)
obtaining the maximum value of the gradient direction of a pixel point e in the gray level image according to the gradient direction angle alpha;
setting the gray values of the pixels which are not the maximum value in the gradient direction of the pixel e in the gray image to be 0, traversing the gray image to obtain a non-maximum value inhibition image NMSI;
extracting the tile edge of each tile in the non-maximum suppression image NMSI based on a Canny algorithm to obtain an edge detection image;
eliminating noise and false edges of the edge detection image through a dual threshold;
extracting a straight line where the tile edge of each tile in the edge detection image is located through progressive probability Hough transform;
calculating the current geometric center D of the ceramic tile to be paved according to the straight line where the edge of the ceramic tile is located1With the geometric centre D of the target position2The displacement vector of (2).
Preferably, the extracting, through a progressive probability hough transform, a straight line where a tile edge of each tile in the edge detection image is located includes:
in a Cartesian coordinate system akx+bky＝ckThen, probability Hough transformation is carried out on the tile edge of each tile to obtain a pixel point set C marked as k of the tile edgek：
Ck＝[xi，yi],0≤i≤nk
Wherein n iskIs the number of detection points of the tile edge marked as k;
according to the pixel point set CkCalculate the average value of each x-axis
Figure BDA0003146314850000041
And the average value of each y axis
Figure BDA0003146314850000042
To obtain
Figure BDA0003146314850000043
And
Figure BDA0003146314850000044
Figure BDA0003146314850000045
from the above
Figure BDA0003146314850000046
Selecting two pixel points with the minimum x-axis average value as a pixel point a and a pixel point b;
selecting the tile edge where the pixel point a with a smaller y-axis average value is located as a No. 1 boundary, and correspondingly, selecting the tile edge where the pixel point b is located as a No. 5 boundary;
from the above
Figure BDA0003146314850000047
Selecting two pixel points with the largest x-axis average value as a pixel point c and a pixel point d; selecting the tile edge where the pixel point c with the smaller y-axis average value is located as a No. 4 boundary, and correspondingly, selecting the tile edge where the pixel point d is located as a No. 8 boundary;
from the above
Figure BDA0003146314850000048
Selecting two pixel points with the minimum y-axis average value as a pixel point f and a pixel point g; selecting the tile edge where the pixel point f with the smaller average value of the x axis is located as a No. 2 boundary, and correspondingly, selecting the tile edge where the pixel point g is located as a No. 3 boundary;
from the above
Figure BDA0003146314850000049
Selecting two pixel points with the largest y-axis average value as a pixel point h and a pixel point i; selecting the tile edge where the pixel point h with the smaller average value of the x axis is located as a No. 6 boundary, and correspondingly, selecting the tile edge where the pixel point i is located as a No. 7 boundary;
calculating the current geometric center D of the ceramic tile to be paved according to the straight line where the edge of each ceramic tile is located1With the geometric centre D of the target position2The displacement vector of (a) includes:
calculating the to-be-laid under the two-dimensional right-angle x-o-y coordinate system according to the ceramic tile parameters, the No. 7 boundary and the No. 8 boundaryCurrent geometric center of tile D1；
Calculating the geometric center D of the target position under the two-dimensional right-angle x-o-y coordinate system according to the ceramic tile parameters, the boundary No. 1, the boundary No. 2, the boundary No. 3, the boundary No. 4, the boundary No. 5 and the boundary No. 62；
Calculating a displacement vector
Figure BDA0003146314850000051
Wherein,
Figure BDA0003146314850000052
calculating said displacement vector Tr：
Figure BDA0003146314850000053
The theta is the displacement vector
Figure BDA0003146314850000054
The angle of (c).
Preferably, the laser ranging of the plane to be paved and the calculation of the descending distance include:
measuring the vertical distance of the surfaces of the adjacent tiles by laser;
and calculating a difference value between the preset height of the upper surface of the tile to be paved and the vertical distance of the surface of the adjacent tile, wherein the difference value is the descending distance for paving the tile to be paved to the target position.
Preferably, the moving the tile to be tiled to the tile to be tiled plane direction by the descending distance includes:
when the tiles to be paved contact ground concrete, the reaction force borne by the tiles to be paved is transmitted to the force sensor through the star frame;
and the main controller receives a force signal of the force sensor, and generates an alarm prompt signal when the force value borne by the force sensor exceeds a preset threshold value.
Preferably, the force sensor is a six-dimensional force sensor, the force signals transmitted to the main controller comprise 6 dimensional force values of the force sensor, the 6 dimensional force values comprise 3 degrees of freedom pressure and 3 degrees of freedom torsion, and the alarm prompt signals are generated when any one of the force values in the force signals received by the main controller exceeds the preset threshold value.
Preferably, the formula for converting the local tile image into the gray scale image GSI is as follows:
GSI＝0.299R+0.587G+0.114B
preferably, the dual threshold includes a high threshold and a low threshold, and the dual threshold is selected based on an adaptive method to obtain:
η(t)2＝γ0(m0-m)2+γ1(m-m1)2＝γ0γ1(m0-m1)2
Figure BDA0003146314850000061
Figure BDA0003146314850000062
Figure BDA0003146314850000063
Figure BDA0003146314850000064
m＝γ0m0+γ1m1
wherein, the gray scale range of the pixel points in the gray scale image is Q ═ 0, T-1]Setting the parameter t willQ is Q0And Q1Two sets, Q0＝[0,t-1]，Q1＝[t,T-1]Said Q is0Has a probability of gamma0Average value of gray scale m0Said Q is1Has a probability of gamma1Average value of gray scale m1M is the gray level average of Q, eta (t)2Let said η (t) be the variance2Taking the maximum value to obtain the value of the parameter t;
and selecting the high threshold value as t and the low threshold value as t/3.
The invention also provides automatic tile paving equipment which is characterized by comprising a mechanical arm, a force sensor, a CCD camera, a laser sensor, a star frame, a rubber vacuum chuck, a connecting wire, a connecting frame and a main controller,
the execution end of the mechanical arm is of a cylindrical structure, the cylindrical structure penetrates through the annular steel clamp of the connecting frame and is fixedly connected with the connecting frame,
the CCD camera is arranged on the connecting frame and transmits signals with the main controller through a group of connecting wires;
the force sensor is connected between the tail end of the execution end and the sensor contact surface of the star frame, and signals are transmitted between the main controller and the force sensor through a group of connecting wires;
the star-shaped frame is provided with hollow supports, the tail ends of the hollow supports are provided with the rubber vacuum chucks, and the main controller controls the rubber vacuum chucks to adsorb the tiles to be paved or loosen the tiles to be paved by controlling the gas circuit in the hollow supports;
the laser sensor is arranged on the star frame and transmits signals with the main controller through a group of connecting wires;
the main controller is used for controlling the mechanical arm, the force sensor, the CCD camera, the laser sensor and the rubber vacuum chuck.
Preferably, the main controller includes:
the mechanical arm control module is used for controlling the mechanical arm to move;
the air path control module is used for controlling the rubber vacuum chuck to adsorb the ceramic tile to be paved or loosen the ceramic tile to be paved through an air path in the hollow bracket;
the image acquisition module is used for acquiring a local tile image through the CCD camera;
the image analysis module is used for analyzing the affiliated position of each tile edge in the local tile picture and calculating a displacement vector for moving the orientation of the tile to be paved according to tile parameters;
the mechanical arm control module is used for moving the ceramic tile to be paved by the mechanical arm according to the displacement vector to enable the mapping position of the ceramic tile to be paved to coincide with the target position;
the laser sensor control module is used for controlling the laser sensor to carry out laser ranging on the plane to be paved;
the calculation module calculates the descending distance;
and the mechanical arm control module is used for moving the descending distance towards the plane to be paved by the mechanical arm so as to pave and paste the ceramic tile to be paved to the target position.
The receiving module is used for receiving a force signal of the force sensor; when the force sensor is a six-dimensional force sensor, a group of force signals transmitted to the main controller comprise 6 dimensional force values of the force sensor, wherein the 6 dimensional force values comprise 3-degree-of-freedom pressure and 3-degree-of-freedom torsion;
the alarm module is used for generating an alarm prompt signal when the force value borne by the force sensor exceeds a preset threshold value; and when any one of the force values in the force signals received by the main controller exceeds the preset threshold value, the alarm prompt signal is generated.
According to the technical scheme, the automatic tile paving equipment and the tile positioning and paving method provided by the embodiment of the invention can improve the tile paving quality, and the laser sensor and the CCD camera are used for positioning the tile position, so that the cost is low, the positioning is accurate and the efficiency is high; the six-dimensional force sensor is adopted to monitor the stress of the operation process, the construction process can be automatically controlled, and the constructors can be effectively prevented from being injured by occupation.
Drawings
Figure 1 is a flow chart of the tile positioning and tiling method of the present invention.
Fig. 2 is a structural composition view of the automatic tile laying apparatus of the present invention.
Fig. 3 is a functional block diagram of a main controller in the automatic tile laying apparatus of the present invention.
Fig. 4 is a view of the viewing effect of the present invention using a limited field of view under the lens of a CCD camera to capture an image.
Fig. 5 is a partial tile picture taken in the present invention.
Fig. 6 is a schematic view of the present invention identifying individual tile boundaries.
FIG. 7 shows the current geometric center D of the tile to be tiled according to the invention1Geometric center D from the target position2Schematic representation of (a).
Fig. 8 is a schematic diagram of a sequence of executing the tiling job.
Fig. 9 is a diagram of another embodiment of the present invention for limited field of view acquisition of local tile images.
Fig. 10 is a diagram showing a result of boundary recognition based on the other embodiment diagram of fig. 9.
In the figure: the device comprises a mechanical arm 1, a force sensor 2, a CCD camera 3, a laser sensor 4, a star frame 5, a rubber vacuum chuck 6 and a connecting frame 7.
Detailed Description
The technical scheme and the technical effect of the invention are further elaborated in the following by combining the drawings of the invention.
The invention provides a tile positioning and paving method and an automatic tile paving device, wherein the tile positioning and paving method is shown in figure 1, and the implementation main body of the tile positioning and paving method is the automatic tile paving device shown in figure 2.
The automatic tile paving and pasting equipment shown in fig. 2 is composed of a mechanical arm 1, a force sensor 2, a CCD camera 3, a laser sensor 4, a star frame 5, a rubber vacuum chuck 6, a connecting wire, a connecting frame 7 and a main controller 9, wherein the execution end of the mechanical arm 1 is of a cylindrical structure, the cylindrical structure penetrates through an annular steel clamp of the connecting frame 7 and is fixedly connected with the connecting frame 7, and the CCD camera 3 is installed on the connecting frame 7 and transmits signals with the main controller 9 through a group of connecting wires; the force sensor 2 is connected between the tail end of the executing end of the mechanical arm 1 and the sensor contact surface of the star frame 5 and transmits signals with the main controller 9 through a group of connecting wires; the star-shaped frame 5 is provided with hollow brackets 51, the tail ends of the hollow brackets 51 are provided with rubber vacuum chucks 6, and the main controller 9 controls the rubber vacuum chucks 6 to adsorb or loosen the tiles to be paved by controlling the air passages in the hollow brackets 51; the laser sensor 4 is arranged on the star frame 5 and transmits signals with the main controller 9 through a group of connecting wires; and the main controller 9 is used for controlling the mechanical arm 1, the force sensor 2, the CCD camera 3, the laser sensor 4 and the rubber vacuum chuck 6.
The steps of the tile positioning and tiling method of figure 1 include:
and step S1, adsorbing the ceramic tile to be paved, moving the ceramic tile to be paved to the position above the target position of the plane to be paved, wherein the ceramic tile to be paved is parallel to the plane to be paved, and the mapping position of the ceramic tile to be paved on the plane to be paved is not coincident with the target position.
Step S2, taking a local tile picture based on a limited view field at an angle vertical to a plane to be paved, wherein the local tile picture comprises a local image of the tile to be paved and local images of N adjacent tiles adjacent to a target position, and N belongs to [1,2,3 ]; when the limited view field is adopted to obtain the local tile image, the lens effect of the limited view field to obtain the local tile image is shown in fig. 4, and the shot local tile image is shown in fig. 5.
Step S3, analyzing the affiliated position of each tile edge in the local tile picture, and calculating a displacement vector for moving the tile to be paved according to tile parameters;
step S4, moving the tile to be paved according to the displacement vector to make the mapping position of the tile to be paved coincide with the target position;
step S5, measuring the distance of the plane to be paved by laser and calculating the descending distance;
step S6, moving the tile to be paved by a descending distance towards the plane to be paved, and paving the tile to be paved to a target position;
and step S7, stopping adsorbing the tiles to be paved.
In the present invention, the specific process of analyzing the local tile picture and calculating the displacement vector for moving the orientation of the tile to be tiled in step S3 is:
step S31, converting the local tile image to obtain a gray scale image GSI, in this embodiment, the following formula is used to convert the local tile image,
GSI＝0.299R+0.587G+0.114B (1)
step S32, performing gaussian filtering on all pixel points of the grayscale image GSI to obtain a filtered grayscale image:
Figure BDA0003146314850000101
wherein, the pixel value e of a single pixel point after Gaussian filtering is as follows:
Figure BDA0003146314850000111
wherein HijIs the window size of the gaussian filter, σ is the variance, k is the dimensionality of the kernel matrix;
step S33, carrying out gradient calculation on the filtered gray level image e to obtain a first-order partial derivative G in the x direction under a two-dimensional right-angle x-o-y coordinate systemx(i, j), first partial derivative G in y directiony(i, j) and gradient direction angle alpha of pixel point e;
Figure BDA0003146314850000112
α(i，j)＝arctan(Gy(i，j)/Gx(i, j) (5) step S34, obtaining the maximum value of the gradient direction of the pixel point e in the gray image according to the gradient direction angle α;
step S35, setting the gray values of the non-maximum pixel points in the gradient direction of the pixel point e in the gray image as 0, traversing the gray image, and obtaining a non-maximum suppression image NMSI;
step S36, extracting the tile edges of all tiles in the non-maximum suppression image NMSI based on a Canny algorithm to obtain an edge detection image;
in step S37, noise and false edges of the edge detection image are eliminated by the dual threshold. The dual thresholds comprise a high threshold and a low threshold, the invention adopts an adaptive method based on Otsu to select the dual thresholds,
η(t)2＝γ0(m0-m)2+γ1(m-m1)2＝γ0γ1(m0-m1)2 (6)
Figure BDA0003146314850000113
Figure BDA0003146314850000114
Figure BDA0003146314850000115
Figure BDA0003146314850000116
m＝γ0m0+γ1m1 (11)
wherein, the gray scale range of the pixel points in the gray scale image is Q ═ 0, T-1]Setting a parameter t to divide Q into Q0And Q1Two sets, Q0＝[0,t-1]，Q1＝[t,T-1]，Q0Has a probability of gamma0Average value of gray scale m0，Q1Has a probability of gamma1Average value of gray scale m1M is the mean value of the gray levels of Q, (< eta >) (t)2Let η (t) be variance2Taking the maximum value to obtain the value of the parameter t; and selecting the high threshold value as t and the low threshold value as t/3.
And step S38, extracting a straight line where the tile edge of each tile in the edge detection image is located through progressive probability Hough transform. The method specifically comprises the following steps:
in a Cartesian coordinate system akx+bky＝ckThen, probability Hough transformation is carried out on the tile edge of each tile to obtain a pixel point set C marked as k of the tile edgek：
Ck＝[xi，yi],0≤i≤nk
Wherein n iskIs the number of detection points for the tile edge marked k;
according to the pixel point set CkCalculate the average value of each x-axis
Figure BDA0003146314850000121
And the average value of each y axis
Figure BDA0003146314850000122
To obtain
Figure BDA0003146314850000123
And
Figure BDA0003146314850000124
Figure BDA0003146314850000125
when the partial tile picture includes three tiles to be tiled, namely, an upper left tile, an upper right tile and a lower left tile, the boundary of each tile is identified by the above method, please refer to fig. 6, and the identification method refers to table 1:
Figure BDA0003146314850000126
TABLE 1 Tile edge identification strategy
Wherein, from
Figure BDA0003146314850000127
Selecting two pixel points with the minimum x-axis average value as a pixel point a and a pixel point b;
selecting the tile edge where the pixel point a with the smaller y-axis average value is located as the No. 1 boundary, and correspondingly selecting the tile edge where the pixel point b is located as the No. 5 boundary;
from
Figure BDA0003146314850000131
Selecting two pixel points with the largest x-axis average value as a pixel point c and a pixel point d;
selecting the tile edge where the pixel point c with the smaller y-axis average value is located as a No. 4 boundary, and correspondingly selecting the tile edge where the pixel point d is located as a No. 8 boundary;
from
Figure BDA0003146314850000132
Selecting two pixel points with the minimum y-axis average value as a pixel point f and a pixel point h;
selecting the tile edge where the pixel point f with the smaller x-axis average value is located as a No. 2 boundary, and correspondingly selecting the tile edge where the pixel point g is located as a No. 3 boundary;
from
Figure BDA0003146314850000133
Selecting two pixel points with the largest y-axis average value as a pixel point h and a pixel point i;
selecting the tile edge where the pixel point h with the smaller x-axis average value is located as a No. 6 boundary, and correspondingly selecting the tile edge where the pixel point i is located as a No. 7 boundary;
step S39, calculating the current geometric center D of the tile to be paved according to the straight line of the tile edge of each tile1Geometric center D from the target position2The displacement vector of (2). The method specifically comprises the following steps:
calculating a two-dimensional right angle x-o-y seat according to the ceramic tile parameters, the No. 7 boundary and the No. 8 boundaryCurrent geometric center D of the tile to be tiled under the system of marks1As shown in fig. 7;
according to the tile parameters, the boundary No. 1, the boundary No. 2, the boundary No. 3, the boundary No. 4, the boundary No. 5 and the boundary No. 6, the geometric center D of the target position under a two-dimensional right-angle x-o-y coordinate system is calculated2As shown in fig. 7;
calculating a displacement vector
Figure BDA0003146314850000134
Wherein,
Figure BDA0003146314850000135
calculating a displacement vector Tr：
Figure BDA0003146314850000136
Where θ is a displacement vector
Figure BDA0003146314850000137
The angle of (c).
In the invention, the step 5 of laser ranging the plane to be paved and calculating the descending distance comprises the following steps: measuring the vertical distance between the surfaces of the adjacent ceramic tiles by laser; and calculating the difference between the preset height of the upper surface of the tile to be paved and the vertical distance of the surfaces of the adjacent tiles, wherein the difference is the descending distance for paving the tile to be paved to the target position.
In the invention, in the process that the tiles to be paved contact ground concrete, the reaction force borne by the tiles to be paved is transmitted to the force sensor 2 through the star frame 5;
the main controller 9 receives the force signal of the force sensor 2, and generates an alarm prompt signal when the force value borne by the force sensor 2 exceeds a preset threshold value.
In specific implementation, the force sensor 2 can adopt a six-dimensional force sensor, a group of force signals transmitted to the main controller 9 comprise 6 dimensional force values of the force sensor 2, wherein the force values comprise pressure with 3 degrees of freedom and torsion with 3 degrees of freedom, and when any force value in the force signals received by the main controller 9 exceeds a preset threshold value, alarm prompt signals are generated.
In the actual tiling work, since the tile tiling sequence can be as shown in fig. 8, the worker first lays the number 1 tile and then sequentially lays the tiles from the number 2 to the number 12. When the robot lays the ceramic tiles, the ceramic tiles of No. 1 are taken as a reference and manually laid. The robot then lays down the other tiles in full automation in the sequence shown in figure 2. Therefore, the partial tile pictures taken during the continuous tiling process may also be present outside fig. 4:
as shown in fig. 9 (a), when No. 2 and No. 3 tiles are tiled, 2 tile pictures are included in the captured local tile pictures based on the left tile, 4 boundaries can be identified and located from the local tile pictures, and calculation is performed
Figure BDA0003146314850000141
And
Figure BDA0003146314850000142
the recognition strategy is: selecting
Figure BDA0003146314850000143
Selecting the pixel point a with the minimum x-axis average value1The edge of the ceramic tile is No. 1 boundary, and the ceramic tile is selected
Figure BDA0003146314850000144
Selecting the pixel point b with the maximum x-axis average value1The edge of the ceramic tile is No. 4 boundary, and the ceramic tile is selected
Figure BDA0003146314850000145
The two pixel points with the maximum average value of the middle y axis are the pixel points c1And pixel d1Selecting a pixel point c with a smaller average value of the x axis1The edge of the ceramic tile is No. 2 boundary, and correspondingly, the pixel point d1The edge of the ceramic tile is the No. 3 boundary, the obtained recognition result is shown as the graph (a) in FIG. 10, and the two-dimensional right angle x-Current geometric center D of the tile to be tiled under o-y coordinate system1Calculating the geometric center D of the target position under a two-dimensional right-angle x-o-y coordinate system according to the ceramic tile parameters, the boundary No. 1 and the boundary No. 22Then calculate the displacement vector
Figure BDA0003146314850000151
And a displacement vector.
Or as shown in fig. 9 (b), when tile 4, tile 7 or tile 10 is tiled, the local tile picture taken by using the tile at the top thereof as a reference contains 2 tile pictures, and 4 boundaries can be identified and located from the local tile picture, and calculated
Figure BDA0003146314850000152
And
Figure BDA0003146314850000153
the recognition strategy is: from
Figure BDA0003146314850000154
Selecting two pixel points with the maximum average value of the x axis as pixel points a2And pixel b2Selecting pixel point a with smaller average value of y axis2The edge of the ceramic tile is No. 2 boundary, and correspondingly, the pixel point b2The edge of the ceramic tile is a No. 3 boundary; selecting
Figure BDA0003146314850000155
Pixel point c with minimum average value of middle y-axis2The edge of the ceramic tile is No. 1 boundary, and the ceramic tile is selected
Figure BDA0003146314850000156
Middle y-axis pixel point d with maximum average value2The edge of the ceramic tile is the No. 4 boundary, the obtained recognition result is shown as the graph (b) in the graph 10, and the current geometric center D of the ceramic tile to be paved under a two-dimensional right-angle x-o-y coordinate system is calculated according to the ceramic tile parameters, the No. 3 boundary and the No. 4 boundary1According to the tile parameters, the No. 1 boundary and the No. 2 boundary, the two-dimensional rectangular x-o-y coordinate system is calculatedGeometric center D of the target position of2Then calculate the displacement vector
Figure BDA0003146314850000157
And a displacement vector.
As shown in fig. 2, the automatic tile paving apparatus provided by the present invention comprises a mechanical arm 1, a force sensor 2, a CCD camera 3, a laser sensor 4, a star frame 5, a rubber vacuum chuck 6, a connecting line, a connecting frame 7 and a main controller 9, wherein, as shown in fig. 3, the main controller 9 may further comprise:
the mechanical arm control module 91 is used for controlling the mechanical arm 1 to move;
the air path control module 92 is used for controlling the rubber vacuum chuck 6 to adsorb the tiles to be paved or release the tiles to be paved through the air path in the hollow bracket 51;
the image acquisition module 93 is used for acquiring a local tile image through the CCD camera 3;
the image analysis module 94 is used for analyzing the affiliated position of each tile edge in the local tile image and calculating a displacement vector for moving the orientation of the tile to be paved according to the tile parameters;
the mechanical arm control module 91 is used for moving the ceramic tiles to be paved by the mechanical arm 1 according to the displacement vector so that the mapping positions of the ceramic tiles to be paved coincide with the target positions;
the laser sensor control module 95 is used for controlling the laser sensor 4 to carry out laser ranging on the plane to be paved;
a calculation module 96 for calculating a descending distance;
and the mechanical arm control module 91 is used for moving the mechanical arm 1 to the direction of the plane to be paved for a descending distance so as to pave and pave the ceramic tile to a target position.
A receiving module 97 for receiving a force signal of the force sensor 2; when the force sensor 2 is a six-dimensional force sensor, a group of force signals transmitted to the main controller 9 comprise 6 dimensional force values of the force sensor, wherein the force values comprise pressure with 3 degrees of freedom and torsion with 3 degrees of freedom;
the alarm module 98 is used for generating an alarm prompt signal when the force value borne by the force sensor 2 exceeds a preset threshold value; when any force value in the force signals received by the main controller 9 exceeds a preset threshold value, an alarm prompt signal is generated.
According to the tile positioning and paving method and the automatic tile paving equipment provided by the embodiment of the invention, the tile positioning is realized based on the edge detection, and the tile paving weight is improved, including straightness and flatness; the two sensors of the laser and the CCD camera are adopted to replace a depth camera to position the position of the ceramic tile, the CCD camera is used for measuring the plane dimension and the laser is used for measuring the vertical height, so that the requirement on the measurement precision can be met, and the cost of the measurement scheme can be reduced; the mechanical arm of the robot is adopted, the mechanical arm and the force sensor work in a cooperative mode, the potential threats to operators caused by the fact that the ceramic tiles are improperly controlled can be reduced, the potential threats to the operators in the operation process are reduced, stress monitoring of the operation process is carried out in real time through the six-dimensional force sensor, and safety in the construction process is guaranteed.
The invention can improve the tile paving quality, and the laser sensor and the CCD camera are used for positioning the tile position, so that the cost is low, the positioning is accurate and the efficiency is high; the six-dimensional force sensor is adopted to monitor the stress of the operation process, the construction process can be automatically controlled, and the constructors can be effectively prevented from being injured by occupation.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.

Claims (10)

1. A ceramic tile positioning and paving method is characterized in that an implementation main body is an automatic ceramic tile paving device, the automatic ceramic tile paving device is composed of a mechanical arm, a force sensor, a CCD camera, a laser sensor, a star frame, a rubber vacuum chuck, a connecting line, a connecting frame and a main controller, an execution end of the mechanical arm is of a cylindrical structure, the cylindrical structure penetrates through an annular steel card of the connecting frame and is fixedly connected with the connecting frame, and the CCD camera is installed on the connecting frame and transmits signals with the main controller through a group of connecting lines; the force sensor is connected between the tail end of the execution end and the sensor contact surface of the star frame, and signals are transmitted between the main controller and the force sensor through a group of connecting wires; the star-shaped frame is provided with hollow supports, the tail ends of the hollow supports are provided with the rubber vacuum chucks, and the main controller controls the rubber vacuum chucks to adsorb the tiles to be paved or loosen the tiles to be paved by controlling the gas circuit in the hollow supports; the laser sensor is arranged on the star frame and transmits signals with the main controller through a group of connecting wires; the main controller is used for controlling the mechanical arm, the force sensor, the CCD camera, the laser sensor and the rubber vacuum chuck; the tile positioning and paving method comprises the following steps:
adsorbing a tile to be paved, and moving the tile to be paved to a position above a target position of a plane to be paved, wherein the tile to be paved is parallel to the plane to be paved, and a mapping position of the tile to be paved on the plane to be paved is not coincident with the target position;
taking a local tile picture based on a limited view field at an angle vertical to the plane to be paved, wherein the local tile picture comprises a local image of the tile to be paved and local images of N adjacent tiles adjacent to the target position, and N belongs to [1,2,3 ];
analyzing the positions of the edges of the tiles in the local tile image, and calculating a displacement vector for moving the orientation of the tiles to be paved according to tile parameters;
moving the tile to be paved according to the displacement vector to enable the mapping position of the tile to be paved to be coincident with the target position;
laser ranging is carried out on the plane to be paved and a descending distance is calculated;
moving the ceramic tile to be paved to the direction of the plane to be paved by the descending distance to ensure that the ceramic tile to be paved is paved to the target position;
and stopping adsorbing the ceramic tiles to be paved.
2. The tile positioning and tiling method of claim 1, wherein said analyzing the local tile image for the location of each tile edge and calculating a displacement vector for moving the orientation of the tile to be tiled based on tile parameters comprises:
converting the local tile picture to obtain a gray level image GSI;
performing Gaussian filtering on the gray level image GSI to obtain the filtered gray level image, wherein the gray level value of a single pixel point e in the gray level image is as follows:
Figure FDA0003146314840000021
Figure FDA0003146314840000022
wherein, the HijA window size that is gaussian filtered, said σ being a variance, said k being a dimension of a kernel matrix; performing gradient calculation on the filtered gray level image to obtain a first-order partial derivative G in the x direction under a two-dimensional right-angle x-o-y coordinate systemx(i, j), first partial derivative G in y directiony(i, j) and the gradient direction angle alpha of the pixel point e;
Figure FDA0003146314840000023
α(i,j)＝arctan(Gy(i,j)/Gx(i,j)
obtaining the maximum value of the gradient direction of a pixel point e in the gray level image according to the gradient direction angle alpha;
setting the gray values of the pixels which are not the maximum value in the gradient direction of the pixel e in the gray image to be 0, traversing the gray image to obtain a non-maximum value inhibition image NMSI;
extracting the tile edge of each tile in the non-maximum suppression image NMSI based on a Canny algorithm to obtain an edge detection image;
eliminating noise and false edges of the edge detection image through a dual threshold;
extracting a straight line where the tile edge of each tile in the edge detection image is located through progressive probability Hough transform;
calculating the current geometric center D of the ceramic tile to be paved according to the straight line where the edge of the ceramic tile is located1With the geometric centre D of the target position2The displacement vector of (2).
3. The tile positioning and tiling method of claim 2,
the extracting of the straight line where the tile edge of each tile in the edge detection image is located through the progressive probability Hough transform comprises:
in a Cartesian coordinate system akx+bky＝ckThen, probability Hough transformation is carried out on the tile edge of each tile to obtain a pixel point set C marked as k of the tile edgek：
Ck＝[xi,yi],0≤i≤nk
Wherein n iskIs the number of detection points of the tile edge marked as k;
according to the pixel point set CkCalculate the average value of each x-axis
Figure FDA0003146314840000031
And the average value of each y axis
Figure FDA0003146314840000032
To obtain
Figure FDA0003146314840000033
And
Figure FDA0003146314840000034
Figure FDA0003146314840000035
from the above
Figure FDA0003146314840000036
Selecting two pixel points with the minimum x-axis average value as a pixel point a and a pixel point b;
selecting the tile edge where the pixel point a with a smaller y-axis average value is located as a No. 1 boundary, and correspondingly, selecting the tile edge where the pixel point b is located as a No. 5 boundary;
from the above
Figure FDA0003146314840000037
Selecting two pixel points with the largest x-axis average value as a pixel point c and a pixel point d;
selecting the tile edge where the pixel point c with the smaller y-axis average value is located as a No. 4 boundary, and correspondingly, selecting the tile edge where the pixel point d is located as a No. 8 boundary;
from the above
Figure FDA0003146314840000041
Selecting two pixel points with the minimum y-axis average value as a pixel point f and a pixel point g;
selecting the tile edge where the pixel point f with the smaller average value of the x axis is located as a No. 2 boundary, and correspondingly, selecting the tile edge where the pixel point g is located as a No. 3 boundary;
from the above
Figure FDA0003146314840000042
Selecting two pixel points with the largest y-axis average value as a pixel point h and a pixel point i;
selecting the tile edge where the pixel point h with the smaller average value of the x axis is located as a No. 6 boundary, and correspondingly, selecting the tile edge where the pixel point i is located as a No. 7 boundary;
calculating the current geometric center D of the ceramic tile to be paved according to the straight line where the edge of each ceramic tile is located1With the geometric centre D of the target position2The displacement vector of (a) includes:
calculating the current geometric center D of the ceramic tile to be paved under the two-dimensional right-angle x-o-y coordinate system according to the ceramic tile parameters, the No. 7 boundary and the No. 8 boundary1；
Calculating the geometric center D of the target position under the two-dimensional right-angle x-o-y coordinate system according to the ceramic tile parameters, the boundary No. 1, the boundary No. 2, the boundary No. 3, the boundary No. 4, the boundary No. 5 and the boundary No. 62；
Calculating a displacement vector
Figure FDA0003146314840000043
Wherein,
Figure FDA0003146314840000044
calculating said displacement vector Tr：
Figure FDA0003146314840000045
The theta is the displacement vector
Figure FDA0003146314840000046
The angle of (c).
4. A tile positioning and tiling method according to claim 1, wherein said laser ranging said plane to be tiled and calculating a drop distance comprises:
measuring the vertical distance of the surfaces of the adjacent tiles by laser;
and calculating a difference value between the preset height of the upper surface of the tile to be paved and the vertical distance of the surface of the adjacent tile, wherein the difference value is the descending distance for paving the tile to be paved to the target position.
5. The tile positioning and tiling method of claim 1, wherein said moving said tile to be tiled said lowering distance in the direction of said plane to be tiled causing said tile to be tiled to said target location comprises:
when the tiles to be paved contact ground concrete, the reaction force borne by the tiles to be paved is transmitted to the force sensor through the star frame;
and the main controller receives a force signal of the force sensor, and generates an alarm prompt signal when the force value borne by the force sensor exceeds a preset threshold value.
6. The tile positioning and tiling method of claim 5, wherein said force sensors are six-dimensional force sensors, wherein said set of force signals transmitted to said master controller includes 6 dimensional force values of said force sensors, wherein said 6 dimensional force values include 3 degrees of freedom of pressure and 3 degrees of freedom of torsion, and wherein said master controller generates said alarm notification signal when any of said force values received by said master controller exceeds said preset threshold.
7. The tile positioning and tiling method of claim 2, wherein said formula for converting said local tile image to said grayscale image GSI is:
GSI＝0.299R+0.587G+0.114B。
8. a tile positioning and tiling method according to claim 2, wherein the dual thresholds include a high threshold and a low threshold, the dual thresholds being derived based on adaptive method selection:
η(t)2＝γ0(m0-m)2+γ1(m-m1)2＝γ0γ1(m0-m1)2
Figure FDA0003146314840000051
Figure FDA0003146314840000052
Figure FDA0003146314840000061
Figure FDA0003146314840000062
m＝γ0m0+γ1m1
wherein, the gray scale range of the pixel points in the gray scale image is Q ═ 0, T-1]Setting a parameter t to divide Q into Q0And Q1Two sets, Q0＝[0,t-1]，Q1＝[t,T-1]Said Q is0Has a probability of gamma0Average value of gray scale m0Said Q is1Has a probability of gamma1Average value of gray scale m1M is the gray level average of Q, eta (t)2Let said η (t) be the variance2Taking the maximum value to obtain the value of the parameter t;
and selecting the high threshold value as t and the low threshold value as t/3.
9. An automatic tile paving and pasting device is characterized by comprising a mechanical arm, a force sensor, a CCD camera, a laser sensor, a star frame, a rubber vacuum chuck, a connecting line, a connecting frame and a main controller,
the execution end of the mechanical arm is of a cylindrical structure, the cylindrical structure penetrates through the annular steel clamp of the connecting frame and is fixedly connected with the connecting frame,
the CCD camera is arranged on the connecting frame and transmits signals with the main controller through a group of connecting wires;
the force sensor is connected between the tail end of the execution end and the sensor contact surface of the star frame, and signals are transmitted between the main controller and the force sensor through a group of connecting wires;
the star-shaped frame is provided with hollow supports, the tail ends of the hollow supports are provided with the rubber vacuum chucks, and the main controller controls the rubber vacuum chucks to adsorb the tiles to be paved or loosen the tiles to be paved by controlling the gas circuit in the hollow supports;
the laser sensor is arranged on the star frame and transmits signals with the main controller through a group of connecting wires;
the main controller is used for controlling the mechanical arm, the force sensor, the CCD camera, the laser sensor and the rubber vacuum chuck.
10. The automatic tile laying apparatus of claim 9, wherein said main controller comprises:
the mechanical arm control module is used for controlling the mechanical arm to move;
the air path control module is used for controlling the rubber vacuum chuck to adsorb the ceramic tile to be paved or loosen the ceramic tile to be paved through an air path in the hollow bracket;
the image acquisition module is used for acquiring a local tile image through the CCD camera;
the image analysis module is used for analyzing the affiliated position of each tile edge in the local tile picture and calculating a displacement vector for moving the orientation of the tile to be paved according to tile parameters;
the mechanical arm control module is used for moving the ceramic tile to be paved by the mechanical arm according to the displacement vector to enable the mapping position of the ceramic tile to be paved to coincide with the target position;
the laser sensor control module is used for controlling the laser sensor to carry out laser ranging on the plane to be paved;
the calculation module calculates the descending distance;
and the mechanical arm control module is used for moving the descending distance towards the plane to be paved by the mechanical arm so as to pave and paste the ceramic tile to be paved to the target position.
The receiving module is used for receiving a force signal of the force sensor; when the force sensor is a six-dimensional force sensor, a group of force signals transmitted to the main controller comprise 6 dimensional force values of the force sensor, wherein the 6 dimensional force values comprise 3-degree-of-freedom pressure and 3-degree-of-freedom torsion;
the alarm module is used for generating an alarm prompt signal when the force value borne by the force sensor exceeds a preset threshold value;
and when any one of the force values in the force signals received by the main controller exceeds the preset threshold value, the alarm prompt signal is generated.
CN202110751211.9A 2021-07-02 2021-07-02 Ceramic tile positioning and paving method and automatic ceramic tile paving equipment Pending CN113445709A (en)

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