CN114658200A

CN114658200A - Control method and control device for leveling robot and computer-readable storage medium

Info

Publication number: CN114658200A
Application number: CN202011541620.8A
Authority: CN
Inventors: 杨军; 朱平; 常华利; 樊详强; 赵云峰; 陈奕海; 黄凯
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-12-23
Filing date: 2020-12-23
Publication date: 2022-06-24

Abstract

The application provides a control method and a control device of a leveling robot and a computer readable storage medium. The method comprises the following steps: acquiring a moving path; controlling the chassis to move according to the moving path, and determining a seam insertion area of the leveling device, wherein the seam insertion area is an area between two surfaces to be leveled; controlling the feeding structure to feed the leveling device to the discharge hole; controlling the moving mechanism to drive the grabbing mechanism to move so as to grab the leveling device; and controlling the moving mechanism to drive the grabbing mechanism to continuously move so as to move the leveling device to the seam insertion area for installation until the leveling is finished. According to the method, the chassis is controlled to move according to the moving path, the seam insertion area is determined, then the position of the chassis is fixed, and the feeding structure, the moving mechanism and the grabbing mechanism of the leveling robot are controlled to move, so that full-automatic accurate leveling can be achieved, and the leveling efficiency of the leveling device is good.

Description

Control method and control device for leveling robot and computer-readable storage medium

Technical Field

The present application relates to the field of robot control, and in particular, to a control method, a control device, a leveling system, a computer-readable storage medium, and a processor for a leveling robot.

Background

In the prior art, the floor tiles are generally laid and attached manually, and specifically, there are two ways, namely, wet-laying floor tiles and dry-laying floor tiles.

In both of the above-described specific brick laying processes, it is generally necessary to level the brick surface. In specific application, leveling can be performed by manually installing a leveling device, but the method is generally used for a worker to stand on a brick surface for construction, the different weights of the workers can cause the subsequent hollowing of the tiles with different degrees, and the method is dependent on manpower, and has low efficiency and low accuracy. Modern tile workers also use laser levels and rulers to detect the levelness of the tiled tile, this traditional process mainly uses a ruler to detect the distance of the laser plane from the tile surface by naked eyes. However, the manual detection by naked eyes has relatively large randomness, the precision cannot be ensured, but the unevenness cannot be seen by the naked eyes, so the method has relatively low accuracy and efficiency.

Therefore, there is a need for a leveling method that can be used efficiently and accurately.

The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.

Disclosure of Invention

The present disclosure provides a control method, a control device, a leveling system, a computer readable storage medium, and a processor for a leveling robot, so as to solve the problem in the prior art that it is difficult to accurately and efficiently perform leveling.

According to an aspect of an embodiment of the present invention, there is provided a control method of a leveling robot, the leveling robot including a chassis, a gripping mechanism, a moving mechanism and a feeding structure, the moving mechanism being mounted on the chassis, the gripping mechanism being mounted on a moving end of the moving mechanism, the feeding structure being mounted on the chassis, the control method including: acquiring a moving path; controlling the chassis to move according to the moving path, and determining a seam insertion area of the leveling device, wherein the seam insertion area is an area between two surfaces to be leveled; controlling the feeding structure to feed the leveling device to a discharge hole; controlling the moving mechanism to drive the grabbing mechanism to move so as to grab the leveling device; and controlling the moving mechanism to drive the grabbing mechanism to move continuously so as to move the leveling device to the seam insertion area for installation until the leveling is finished.

Optionally, before controlling the chassis to move according to the moving path and determining the seam insertion area of the leveler, the control method further includes: detecting whether the grabbing mechanism is located at a corresponding original position; under the condition that the grabbing mechanism is not located at the corresponding original position, controlling each axis of the moving mechanism to return to the corresponding original position and the grabbing mechanism to return to the corresponding original position; and under the condition that the grabbing mechanism is positioned at the corresponding original position, controlling a rotating part in the grabbing mechanism to return to a non-rotating zero position.

Optionally, in a case that it is detected that the grasping mechanism is not located at the corresponding origin, controlling each axis of the moving mechanism to return to the corresponding origin and the grasping mechanism to return to the corresponding origin so that the grasping mechanism is located at the corresponding origin, includes: control the third axle in proper order and remove to the initial point position that corresponds, the primary shaft removes to the initial point position that corresponds, the secondary shaft removes to the initial point position that corresponds snatch the mechanism and remove to the initial point position that corresponds to pay-off spindle in the structure, moving mechanism includes the primary shaft the secondary shaft and the third axle, the third axle with the primary shaft with the secondary shaft is perpendicular respectively, just the primary shaft with the secondary shaft is perpendicular, the third axle with the direction of height of the robot of making level is parallel.

Optionally, after controlling the rotating part in the grabbing mechanism to return to the non-rotating zero position, before controlling the chassis to move according to the moving path and determining the seam insertion area of the leveler, the control method further includes: detecting the height of a third shaft of the moving mechanism, wherein the moving mechanism comprises a first shaft, a second shaft and the third shaft, the third shaft is respectively vertical to the first shaft and the second shaft, the first shaft is vertical to the second shaft, and the third shaft is parallel to the height direction of the leveling robot; and determining whether the height of the third shaft is a safe height, if not, controlling the third shaft to move to the safe height, wherein the safe height is a height which can not collide with the feeding structure when the grabbing mechanism translates.

Optionally, before controlling the feeding structure to feed the screed to the discharge hole, after controlling the chassis to move according to the moving path and determining the seam insertion area of the screed, the control method further includes: correcting the position of the chassis to enable a preset surface of the chassis to be parallel to a surface to be leveled, wherein the preset surface is a surface perpendicular to the height direction of the chassis; detecting whether the chassis completes the position correction or not, and under the condition that the position correction is not completed, performing the position correction on the chassis again until the chassis completes the position correction.

Optionally, control pay-off structure will the screed-ware is sent to the discharge gate, include: under the condition that the feeding structure is controlled to move to the limit position, detecting whether the leveling device exists at the discharging opening, wherein the limit position is the position of the feeding structure when a pushing component for pushing the leveling device moves to the maximum distance; replenishing the screed into the leveling robot without the screed at the discharge port; and controlling the feeding structure to move so as to send the leveling device to the discharge hole.

Optionally, the moving mechanism includes a first shaft, a second shaft and a third shaft, the third shaft is perpendicular to the first shaft and the second shaft respectively, the first shaft is perpendicular to the second shaft, the third shaft is parallel to the height direction of the leveling robot, and the moving mechanism drives the grabbing mechanism to move to grab the leveling device, including: controlling the first shaft and the second shaft to move so as to drive the grabbing mechanism to reach a material preparation and taking position; controlling the third shaft to move so as to drive the grabbing mechanism to reach a material taking position from the prepared material taking position; the grabbing mechanism grabs the leveling device at the material taking position.

Optionally, after the moving mechanism is controlled to drive the grabbing mechanism to move so as to grab the screed, the moving mechanism is controlled to drive the grabbing mechanism to continue moving so as to move the screed to the slotting region for installation until the leveling is completed, the control method further includes: detecting whether the grabbing of the leveling device is finished or not; when the situation that the leveling device is grabbed is detected to be incomplete, the feeding structure is controlled again to send the leveling device to the discharge hole until the completion of grabbing of the leveling device is detected.

Optionally, the moving mechanism includes a first shaft, a second shaft, and a third shaft, the third shaft is perpendicular to the first shaft and the second shaft, respectively, and the first shaft is perpendicular to the second shaft, the third shaft is parallel to the height direction of the leveling robot, after controlling the moving mechanism to drive the grabbing mechanism to move so as to grab the leveler, the moving mechanism is controlled to drive the grabbing mechanism to move continuously so as to move the leveler to the slot area for installation until the leveling is completed, and the control method further includes: and controlling the third shaft to move to a safe height, wherein the safe height is a height which meets the requirement that the grabbing mechanism cannot collide with the feeding structure during translation.

Optionally, the ware of making level is including the body of making level, the needle and the rotatory cap of making level, rotatory cap with make level this body coupling, make level the needle with make level this body coupling, the needle of making level includes main contact pin and horizontal pin, main contact pin with horizontal pin is cross connection, control moving mechanism drives snatch the mechanism and continue to remove, with will make level the ware remove extremely the plug slot region is installed, makes level until accomplishing, include: controlling the moving mechanism to drive the grabbing mechanism to move, so that the leveling device reaches the position above the seam insertion area; controlling the moving mechanism to drive the grabbing mechanism to move so that the leveling needle is completely inserted into the slot inserting area; controlling the grabbing mechanism to rotate so that the transverse blocking rod is perpendicular to the edge line of the surface to be leveled; controlling the gripping mechanism to rotate to tighten the rotating cap.

Optionally, the moving mechanism includes the primary shaft, secondary shaft and third axle, the third axle with the primary shaft with the secondary shaft is perpendicular respectively, just the primary shaft with the secondary shaft is perpendicular, the third axle with the direction of height of robot is parallel, be provided with the elastic component in the mechanism of grabbing grab the mechanism with the screed-ware is in when taking place mutual extrusion on the length direction of main contact pin, the elastic component takes place deformation, control moving mechanism drives it removes to grab the mechanism, makes it inserts completely to look for the flush needle the slotting region includes: controlling the third shaft to move to drive the grabbing mechanism to move for a first distance until an elastic piece in the grabbing mechanism deforms; controlling the first shaft to move to drive the grabbing mechanism to move until a main inserting needle of the leveling needle is inserted into the inserting seam area; controlling the third shaft to move to drive the grabbing mechanism to move for a second distance until the deformation of the elastic piece changes again; controlling the grabbing mechanism to rotate so that the transverse blocking rod is in a preset position, wherein the preset position is a position where the transverse blocking rod can enter the slot inserting area when moving along the moving direction of the third shaft; and controlling the third shaft to move to drive the grabbing mechanism to move for a third distance, so that the leveling needle is completely inserted into the inserting seam area.

Optionally, the moving mechanism includes a first shaft, a second shaft, and a third shaft, the third shaft is perpendicular to the first shaft and the second shaft, respectively, and the first shaft is perpendicular to the second shaft, the third shaft is parallel to the height direction of the robot, and the moving mechanism is controlled to drive the grabbing mechanism to move continuously, so as to move the screed to the slotting region for installation, until the leveling is completed, the control method further includes: controlling the third shaft to move to a safe position; and controlling the rotating part in the grabbing mechanism to return to the non-rotating zero position.

According to another aspect of the embodiments of the present invention, there is also provided a control device for a leveling robot, the leveling robot includes a chassis, a grabbing mechanism, a moving mechanism, and a feeding structure, the moving mechanism is mounted on the chassis, the grabbing mechanism is mounted on a moving end of the moving mechanism, the feeding structure is mounted on the chassis, the control device includes: an acquisition unit configured to acquire a movement path; the first control unit is used for controlling the chassis to move according to the moving path and determining a seam insertion area of the leveling device, wherein the seam insertion area is an area between two surfaces to be leveled; the second control unit is used for controlling the feeding structure to feed the leveling device to the discharge hole; the third control unit is used for controlling the moving mechanism to drive the grabbing mechanism to move so as to grab the leveling device; and the fourth control unit is used for controlling the moving mechanism to drive the grabbing mechanism to continuously move so as to move the leveling device to the seam insertion area for installation until the leveling is finished.

According to yet another aspect of embodiments of the present invention, there is also provided a leveling system, including: the leveling robot comprises a chassis, a grabbing mechanism, a moving mechanism and a feeding structure, wherein the moving mechanism is installed on the chassis, the grabbing mechanism is installed on the moving end of the moving mechanism, and the feeding structure is installed on the chassis; and the controller is in communication connection with the leveling robot and is used for executing any one of the control methods.

According to still another aspect of embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program executes any one of the methods.

According to another aspect of the embodiments of the present invention, there is also provided a processor, configured to execute a program, where the program executes any one of the methods.

In the embodiment of the invention, firstly, a moving path is obtained, then, the chassis is controlled to move according to the obtained moving path, the seam insertion area of the leveling device is determined, then, the feeding structure is controlled to feed the leveling device to the discharge hole, then, the moving mechanism is controlled to move, the moving mechanism can drive the transferring mechanism to move, the grabbing mechanism can grab the leveling device when moving, and finally, the moving mechanism is controlled to continue moving, and the moving mechanism drives the grabbing mechanism to continue moving, so that the leveling device is moved to the seam insertion area until the leveling device is completely leveled. According to the method, the chassis is controlled to move according to the moving path, the seam insertion area is determined, then the position of the chassis is fixed, and the feeding structure, the moving mechanism and the grabbing mechanism of the leveling robot are controlled to move, so that full-automatic accurate leveling can be achieved, and the leveling efficiency of the leveling device is good.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:

fig. 1 shows a flow diagram of a control method of a leveling robot according to an embodiment of the present application;

FIG. 2 shows a schematic structural diagram of a control device of a leveling robot according to an embodiment of the present application;

FIG. 3 illustrates a schematic diagram of a leveling system according to an embodiment of the present application;

fig. 4 shows a flow chart of another control method of a leveling robot according to an embodiment of the application.

Wherein the figures include the following reference numerals:

11. a controller; 12. a chassis; 13. a grabbing mechanism; 14. a moving mechanism; 15. a feeding structure; 16. obstacle avoidance radar; 17. an industrial personal computer; 18. a camera; 19. remote DI/DO; 21. a sensor; 22. buttons/indicator lights; 23. screwing down the motor; 24. a camera light source; 25. a driver.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.

As described in the background art, it is difficult to accurately and efficiently perform leveling in the related art, and in order to solve the above problems, in an exemplary embodiment of the present application, a control method of a leveling robot, a control apparatus, a leveling system, a computer-readable storage medium, and a processor are provided.

According to an embodiment of the application, a control method of a leveling robot is provided, the leveling robot comprises a chassis, a grabbing mechanism, a moving mechanism and a feeding structure, the moving mechanism is installed on the chassis, the grabbing mechanism is installed on a moving end of the moving mechanism, and the feeding structure is installed on the chassis. Fig. 1 is a flowchart of a control method of a leveling robot according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:

step S101, acquiring a moving path;

step S102, controlling the chassis to move according to the moving path, and determining a seam insertion area of the leveling device, wherein the seam insertion area is an area between two surfaces to be leveled;

step S103, controlling the feeding structure to feed the leveling device to a discharge hole;

step S104, controlling the moving mechanism to drive the grabbing mechanism to move so as to grab the leveling device;

and S105, controlling the moving mechanism to drive the grabbing mechanism to move continuously so as to move the leveling device to the seam insertion area for installation until the leveling is finished.

According to the method, firstly, a moving path is obtained, then, the chassis is controlled to move according to the obtained moving path, the seam insertion area of the leveling device is determined, then, the feeding structure is controlled to send the leveling device to the discharging opening, then, the moving mechanism is controlled to move, the moving mechanism can drive the transferring mechanism to move, the grabbing mechanism can move to grab the leveling device, finally, the moving mechanism is controlled to continue to move, the moving mechanism drives the grabbing mechanism to continue to move, and therefore the leveling device is moved to the seam insertion area until the leveling is completed. According to the method, the chassis is controlled to move according to the moving path, the seam insertion area is determined, then the position of the chassis is fixed, and the feeding structure, the moving mechanism and the grabbing mechanism of the leveling robot are controlled to move, so that full-automatic accurate leveling can be achieved, and the leveling efficiency of the leveling device is good.

It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.

Specifically, use pay-off structures such as pay-off axle can realize using the depositing of a large amount of screeds of making level, for example more than 100 the screeds of making level, according to 2 the screeds of tile installation of the tile of paving the wood bridge, can accomplish 50 tiles operation of making level with this feed supplement, like 600 tiles, can accomplish and make level to 18 square meters paving area, can satisfy the demand of making level to ordinary living room basically.

In an embodiment of the present application, before controlling the chassis to move according to the moving path and determining the seam insertion area of the screed, the control method further includes: detecting whether the grabbing mechanism is located at the corresponding original position; under the condition that the grabbing mechanism is not located at the corresponding original position, controlling each shaft of the moving mechanism to return to the corresponding original position and controlling the grabbing mechanism to return to the corresponding original position; and under the condition that the grabbing mechanism is positioned at the corresponding original position, controlling a rotating part in the grabbing mechanism to return to a non-rotating zero position. In this embodiment, through removing moving mechanism to the primary position to and snatch the mechanism and remove to the primary position, when making follow-up control chassis remove, remove from the primary position, make the robot can more accurately remove, and can confirm the slotting region more accurately, through removing the mechanism to the primary position to snatch, can guarantee to snatch the mechanism and be located directly over the ware discharge gate of making level, follow-up after snatching the zero position of mechanism and making level the ware and adjusting well, can snatch the ware of making level more accurately.

In another embodiment of the present application, when it is detected that the grasping mechanism is not located at the corresponding origin, controlling each axis of the moving mechanism to return to the corresponding origin and the grasping mechanism to return to the corresponding origin includes: and sequentially controlling the third shaft to move to the corresponding original point position, the first shaft to move to the corresponding original point position, the second shaft to move to the corresponding original point position, the grabbing mechanism to move to the corresponding original point and the feeding shaft in the feeding structure to move to the corresponding original point position. In the embodiment, the structures are sequentially controlled to return to the original positions, so that the grabbing mechanism is further ensured to accurately return to the original positions.

In a specific embodiment, the first shaft may be an X-axis, the second shaft may be a Y-axis, and the third shaft may be a Z-axis, which may control the X-axis of the moving mechanism to move left and right, control the Y-axis of the moving mechanism to move back and forth, and control the Z-axis of the moving mechanism to move up and down, so as to further ensure that the grabbing mechanism does not collide with the robot when moving to the origin.

In another embodiment of the present application, after controlling the rotating member of the grabbing mechanism to return to the non-rotating zero position, before controlling the chassis to move along the moving path and determining the seam insertion area of the leveler, the control method further includes: detecting the height of a third shaft of the moving mechanism, wherein the moving mechanism comprises a first shaft, a second shaft and the third shaft, the third shaft is respectively vertical to the first shaft and the second shaft, the first shaft is vertical to the second shaft, and the third shaft is parallel to the height direction of the leveling robot; and determining whether the height of the third shaft is a safe height, if not, controlling the third shaft to move to the safe height, wherein the safe height is a height which can not collide with the feeding structure when the grabbing mechanism translates. In this embodiment, through removing the third axle to safe height, can guarantee that the security of leveling robot is better.

In another embodiment of the present application, before controlling the feeding structure to feed the leveling machine to the discharge hole, after controlling the chassis to move according to the moving path and determining the seam insertion area of the leveling machine, the control method further includes: correcting the position of the chassis to enable a preset surface of the chassis to be parallel to a plane to be found, wherein the preset surface is a surface vertical to the height direction of the chassis; detecting whether the chassis finishes the position correction or not, and under the condition that the position correction is not finished, performing the position correction on the chassis again until the chassis finishes the position correction. In the embodiment, the position of the chassis of the robot is corrected, so that the surface, vertical to the height direction, of the chassis can be parallel to the surface to be leveled, and the leveling device can be conveyed to the discharge hole more accurately in the follow-up process.

In a specific embodiment of this application, control above-mentioned pay-off structure and send above-mentioned leveling device to the discharge gate, include: under the condition of controlling the feeding structure to move to an extreme position, detecting whether the leveling device exists at the discharging opening, wherein the extreme position is a position of the feeding structure when a pushing part for pushing the leveling device moves to a maximum distance; supplementing the leveling device to the leveling robot under the condition that the leveling device does not exist at the discharge port; and controlling the feeding structure to move so as to send the leveling device to the discharge hole. In this embodiment, can adopt the detection sensor to detect whether discharge gate department has the ware of making level, supply the ware of making level to the robot of making level in, follow-up can guarantee that the robot can carry out the operation of making level on next step.

In another specific embodiment of the present application, the moving mechanism includes a first shaft, a second shaft and the third shaft, the third shaft is perpendicular to the first shaft and the second shaft respectively, and the first shaft is perpendicular to the second shaft, the third shaft is parallel to the height direction of the leveling robot, and the moving mechanism is controlled to drive the grabbing mechanism to move so as to grab the leveling device, including: controlling the first shaft and the second shaft to move so as to drive the grabbing mechanism to reach a material preparation taking position; controlling the third shaft to move so as to drive the grabbing mechanism to reach a material taking position from the prepared material taking position; the grabbing mechanism grabs the leveling device at the material taking position. In this embodiment, through the mode of controlling first axle and second axle earlier, the back control third axle, will snatch the mechanism and move to getting the material position, such control mode compares the mode of controlling three axles simultaneously, and is simpler high-efficient.

In another embodiment of the present application, after controlling the moving mechanism to drive the grabbing mechanism to move so as to grab the leveling device, controlling the moving mechanism to drive the grabbing mechanism to continue moving so as to move the leveling device to the seam insertion area for installation until the leveling is completed, the control method further includes: detecting whether the grabbing of the leveling device is finished or not; and under the condition that the grabbing of the leveling device is not completed, the feeding structure is controlled again to feed the leveling device to the discharge hole until the grabbing of the leveling device is completed. In this embodiment, can further guarantee that the ware of making level can be sent to the discharge gate, and then can guarantee follow-up more high-efficient accomplish smoothly and make level.

In another embodiment of the present invention, the moving mechanism includes a first shaft, a second shaft, and a third shaft, the third shaft is perpendicular to the first shaft and the second shaft, respectively, and the first shaft is perpendicular to the second shaft, the third shaft is parallel to the height direction of the leveling robot, after the moving mechanism is controlled to drive the grabbing mechanism to move so as to grab the leveler, the moving mechanism is controlled to drive the grabbing mechanism to move continuously so as to move the leveler to the seam insertion area for installation, until the leveling is completed, the control method further includes: and controlling the third shaft to move to the safe height. In this embodiment, the third shaft is controlled to move to the safe height, so that the safety of the leveling robot can be further ensured to be better.

In another embodiment of this application, above-mentioned ware of making level is including the body of making level, the needle and the rotatory cap of making level, above-mentioned rotatory cap and the aforesaid body coupling of making level, the aforesaid is made level the needle and the aforesaid is made level the body coupling, the aforesaid is made level the needle and is included main contact pin and horizontal pin, above-mentioned main contact pin is cross connection with above-mentioned horizontal pin, controls above-mentioned moving mechanism and drives the aforesaid and snatch the mechanism and continue to remove to the aforesaid is made level the ware and is removed to the aforesaid slotting region and install, until accomplishing and make level, include: controlling the moving mechanism to drive the grabbing mechanism to move so that the leveling device reaches the upper part of the seam insertion area; controlling the moving mechanism to drive the grabbing mechanism to move so that the leveling needle is completely inserted into the slot inserting area; controlling the grabbing mechanism to rotate so that the transverse blocking rod is perpendicular to the edge line of the surface to be leveled; and controlling the grabbing mechanism to rotate so as to screw the rotary cap. In this embodiment, the needle of making level has inserted the slotting region completely, and the control is snatched the mechanism and is rotated, can make rotatory cap screw up, and then can accomplish more efficiently and make level.

It should be noted that the positive direction of the grabbing mechanism can be controlled to rotate 90 °, and the negative direction of the grabbing mechanism can also be controlled to rotate 90 °.

In a specific embodiment of the present application, the moving mechanism includes a first shaft, a second shaft and the third shaft, the third shaft is perpendicular to the first shaft and the second shaft respectively, the first shaft is perpendicular to the second shaft, the third shaft is parallel to the height direction of the robot, an elastic member is disposed in the grabbing mechanism, when the grabbing mechanism and the leveling device are squeezed together in the length direction of the main pin, the elastic member deforms, and the moving mechanism is controlled to drive the grabbing mechanism to move, so that the leveling pin is completely inserted into the slot region, including: controlling the third shaft to move to drive the grabbing mechanism to move for a first distance until the elastic piece in the grabbing mechanism deforms, wherein the characteristic that the needle point of the leveling needle touches the leveling surface, such as the surface of a ceramic tile; controlling the first shaft to move so as to drive the grabbing mechanism to move until the main inserting needle of the leveling needle is inserted into the inserting seam area, wherein the deformation quantity of the elastic piece is not changed in the process; controlling the third shaft to move to drive the grabbing mechanism to move a second distance until the deformation of the elastic member changes again, at which time, the transverse blocking rod of the leveling needle is located on the leveling surface, i.e. blocked on the leveling surface, and in a specific embodiment, for example, when the tile is leveled, the leveling device may be hung on the tile surface; controlling the grabbing mechanism to rotate so that the transverse blocking rod is in a preset position, wherein the preset position is a position where the transverse blocking rod can enter the slot inserting area when moving along the moving direction of the third shaft, namely the transverse blocking rod is aligned with the slot inserting area, and the transverse blocking rod can enter the slot inserting area when subsequently moving downwards; and controlling the third shaft to move so as to drive the grabbing mechanism to move for a third distance, so that the leveling needle is completely inserted into the inserting seam area. The method further ensures that the leveling needle is completely inserted into the seam insertion area.

In order to control more accurately and make level the process that the needle inserted the slot region, in a specific embodiment of this application, the robot of making level still includes the deformation sensor, and above-mentioned deformation sensor is used for detecting pressure signal, and when the elastic component took place deformation, then for making level the ware and provide pressure, the deformation sensor sent trigger signal. The above-mentioned moving mechanism of control drives the above-mentioned mechanism of snatching and removes for the in-process of above-mentioned leveling needle inserted the seam region completely, under the condition that receives the trigger signal of above-mentioned deformation sensor, can confirm that the elastic component in the above-mentioned mechanism of snatching takes place deformation, under the condition that has not received the trigger signal, can confirm that the elastic component in the mechanism of snatching no longer takes place deformation. Specifically, when the third shaft is controlled to move to drive the grabbing mechanism to move for a first distance, under the condition that a trigger signal of the deformation sensor is received for the first time, deformation of an elastic part in the grabbing mechanism can be determined; when the first shaft is controlled to move to drive the grabbing mechanism to move, and the deformation of the elastic part does not change when the deformation sensor is not received, the main inserting needle of the leveling needle is represented to be inserted into the inserting seam area; when the third shaft is controlled to move to drive the grabbing mechanism to move for a second distance, and the trigger signal of the deformation sensor is received again, the deformation of the representing elastic piece changes again, namely the transverse blocking rod of the leveling needle is located on the leveling surface, namely is blocked on the leveling surface.

In another specific embodiment, the positive direction of the grabbing mechanism can be controlled to rotate by 5 °, and the negative direction of the grabbing mechanism can also be controlled to rotate by 5 °, however, the present invention is not limited to the above manner, and those skilled in the art can select an appropriate rotation direction and angle according to actual situations.

In another specific embodiment of the present application, the moving mechanism includes a first shaft, a second shaft, and the third shaft, the third shaft is perpendicular to the first shaft and the second shaft, the first shaft is perpendicular to the second shaft, the third shaft is parallel to the height direction of the robot, the moving mechanism is controlled to drive the grabbing mechanism to move continuously, so as to move the leveling device to the seam insertion area for installation, and until the leveling is completed, the control method further includes: controlling the third shaft to move to a safe position; and controlling the rotating part in the grabbing mechanism to restore to the non-rotating zero position. In this embodiment, after the operation of making level, remove the third axle to the safe position, can further improve the security of the robot of making level, will snatch the rotating member in the mechanism and resume to non-pivoted zero point position to make and snatch mechanism and moving mechanism and can reset, further guarantee subsequent high-efficient accurately make level.

The embodiment of the present application further provides a control device for a leveling robot, wherein the leveling robot includes a chassis, a grabbing mechanism, a moving mechanism and a feeding structure, the moving mechanism is installed on the chassis, the grabbing mechanism is installed on the moving end of the moving mechanism, the feeding structure is installed on the chassis, and what needs to be described is that the control device for a leveling robot according to the embodiment of the present application can be used for executing the control method for a leveling robot provided by the embodiment of the present application. The control device of the leveling robot provided by the embodiment of the application is described below.

Fig. 2 is a schematic view of a control of a leveling robot according to an embodiment of the present application. As shown in fig. 2, the apparatus includes:

an acquisition unit 10 for acquiring a movement path;

the first control unit 20 is used for controlling the chassis to move according to the moving path and determining a seam insertion area of the leveling device, wherein the seam insertion area is an area between two surfaces to be leveled;

the second control unit 30 is used for controlling the feeding structure to feed the leveling device to the discharge hole;

a third control unit 40, configured to control the moving mechanism to drive the grabbing mechanism to move, so as to grab the leveling device;

and the fourth control unit 50 is used for controlling the moving mechanism to drive the grabbing mechanism to move continuously so as to move the leveling device to the seam insertion area for installation until the leveling is finished.

In the device, the obtaining unit obtains the moving path, the first control unit controls the chassis to move according to the obtained moving path to determine the seam insertion area of the leveling device, the second control unit controls the feeding structure to send the leveling device to the discharge port, the third control unit controls the moving mechanism to move, the moving mechanism can drive the transferring mechanism to move, the grabbing mechanism can grab the leveling device, the fourth control unit controls the moving mechanism to continue to move, and the moving mechanism drives the grabbing mechanism to continue to move so as to move the leveling device to the seam insertion area until the leveling is completed. In the device, remove according to the removal route through the control chassis to confirm that the seam is inserted regional, later, the position of fixed chassis, the control is made level feeding structure, the moving mechanism of robot and is snatched the mechanism and remove, can realize full-automatic accurate making level like this, makes level the efficiency of making level of ware better.

In an embodiment of the present application, the apparatus further includes a first detecting unit, a fifth controlling unit, and a sixth controlling unit, where the first detecting unit is configured to detect whether the grabbing mechanism is located at a corresponding origin position before controlling the chassis to move according to the moving path and determining the seam inserting area of the screed; the fifth control unit is used for controlling each shaft of the moving mechanism to return to the corresponding original position and the grabbing mechanism to return to the corresponding original position under the condition that the grabbing mechanism is not detected to be positioned at the corresponding original position; and the sixth control unit is used for controlling the rotating part in the grabbing mechanism to return to the non-rotating zero position under the condition that the grabbing mechanism is positioned at the corresponding original position. In this embodiment, through removing moving mechanism to the original position to and snatch the mechanism and remove to the original position, when making follow-up control chassis remove, remove from the original position, make the robot can more accurately remove, and can more accurately confirm the plug-in joint region, through removing mechanism to the original position with snatching, can guarantee to snatch the mechanism and be located directly over the ware discharge gate of making level, follow-up after the zero position of snatching the mechanism is adjusted well with the ware of making level, can more accurately snatch the ware of making level.

In another embodiment of the present application, the fifth control unit includes a first control module, and the first control module is configured to sequentially control the third shaft to move to the corresponding origin, the first shaft to move to the corresponding origin, the second shaft to move to the corresponding origin, the grabbing mechanism to move to the corresponding origin, and the feeding shaft in the feeding structure to move to the corresponding origin. In the embodiment, the structures are sequentially controlled to return to the original position, so that the grabbing mechanism is further ensured to accurately return to the original position.

In another embodiment of the present application, the apparatus further includes a second detecting unit and a seventh controlling unit, the second detecting unit is configured to detect a height of a third axis of the moving mechanism after controlling the rotating member of the grabbing mechanism to return to the non-rotating zero position, before controlling the chassis to move along the moving path and determining the seam insertion area of the screed, the moving mechanism includes a first axis, a second axis and the third axis, the third axis is perpendicular to the first axis and the second axis, and the first axis and the second axis are perpendicular, and the third axis is parallel to the height direction of the leveling robot; and the seventh control unit is used for determining whether the height of the third shaft is a safe height, and if not, controlling the third shaft to move to the safe height, wherein the safe height is a height which can not collide with the feeding structure when the grabbing mechanism translates. In this embodiment, through removing the third axle to safe height, can guarantee that the security of leveling robot is better.

In another embodiment of the present application, the apparatus further includes a first correction unit and a second correction unit, the first correction unit is configured to correct the position of the chassis after controlling the chassis to move according to the moving path and determining the seam insertion area of the screed machine before controlling the feeding structure to feed the screed machine to the discharge opening, so that the predetermined surface of the chassis is parallel to the plane to be found, and the predetermined surface is a surface perpendicular to the height direction of the chassis; the second correcting unit is used for detecting whether the chassis finishes the position correction or not, and under the condition that the position correction is not finished, the position correction is carried out on the chassis again until the chassis finishes the position correction. In the embodiment, the position of the chassis of the robot is corrected, so that the surface, vertical to the height direction, of the chassis can be parallel to the surface to be leveled, and the leveling device can be conveyed to the discharge hole more accurately in the follow-up process.

In a specific embodiment of the present application, the second control unit includes a first detection module, a supplement module, and a second control module, the first detection module is configured to detect whether the leveling device is present at the discharge port under the condition that the feeding structure is controlled to move to an extreme position, where the extreme position is a position of the feeding structure when a pushing component of the feeding structure for pushing the leveling device moves to a maximum distance; the supplementing module is used for supplementing the leveling device to the leveling robot under the condition that the leveling device does not exist at the discharge port; the second control module is used for controlling the feeding structure to move so as to convey the leveling device to the discharge hole. In this embodiment, can adopt the detection sensor to detect whether discharge gate department has the ware of making level, supply the ware of making level to the robot of making level in, follow-up can guarantee that the robot can carry out the operation of making level on next step.

In another specific embodiment of the present application, the moving mechanism includes a first shaft, a second shaft, and the third shaft, the third shaft is perpendicular to the first shaft and the second shaft, the first shaft is perpendicular to the second shaft, the third shaft is parallel to the height direction of the leveling robot, the third control unit includes a third control module, a fourth control module, and a grabbing module, the third control module is configured to control the first shaft and the second shaft to move to drive the grabbing mechanism to reach the material preparation position; the fourth control module is used for controlling the third shaft to move so as to drive the grabbing mechanism to reach a material taking position from the prepared material taking position; the grabbing module is used for grabbing the leveling device at the material taking position. In this embodiment, through controlling primary shaft and second axle earlier, the mode of back control third axle will snatch the mechanism and remove to getting the material position, and such control mode compares the mode of three axles of simultaneous control, and is more simple high-efficient.

In another embodiment of the present application, the apparatus further includes a third detecting unit and an eighth controlling unit, the third detecting unit is configured to, after controlling the moving mechanism to drive the grabbing mechanism to move so as to grab the screed, control the moving mechanism to drive the grabbing mechanism to move continuously so as to move the screed to the slot area for installation, and detect whether the grabbing of the screed is completed or not until the leveling is completed; the eighth control unit is used for controlling the feeding structure to feed the leveling device to the discharge hole again under the condition that the grabbing of the leveling device is not completed, until the grabbing of the leveling device is completed. In this embodiment, can further guarantee that the ware of making level can be sent to the discharge gate, and then can guarantee follow-up more high-efficient accomplish smoothly and make level.

In another embodiment of the present invention, the moving mechanism includes a first shaft, a second shaft, and the third shaft, the third shaft is perpendicular to the first shaft and the second shaft, the first shaft is perpendicular to the second shaft, and the third shaft is parallel to the height direction of the leveling robot, the apparatus further includes a ninth control unit, the ninth control unit is configured to control the moving mechanism to drive the grabbing mechanism to move so as to grab the leveling device, and then control the moving mechanism to drive the grabbing mechanism to move continuously so as to move the leveling device to the seam insertion area for installation, until the leveling is completed, control the third shaft to move to the safety height. In this embodiment, the third shaft is controlled to move to the safe height, so that the safety of the leveling robot can be further ensured to be better.

In another embodiment of the present application, the leveling device includes a leveling body, a leveling needle and a rotary cap, the rotary cap is connected to the leveling body, the leveling needle includes a main pin and a transverse bar, the main pin and the transverse bar are connected in a cross manner, the fourth control unit includes a fifth control module, a sixth control module, a seventh control module and an eighth control module, the fifth control module is configured to control the moving mechanism to drive the grabbing mechanism to move, so that the leveling device reaches above the seam insertion area; the sixth control module is used for controlling the moving mechanism to drive the grabbing mechanism to move so that the leveling needle is completely inserted into the inserting seam area; the seventh control module is used for controlling the grabbing mechanism to rotate so that the transverse blocking rod is perpendicular to the edge line of the surface to be leveled; the eighth control module is used for controlling the grabbing mechanism to rotate so as to tighten the rotary cap. In this embodiment, the needle of making level has inserted the seam region completely, and the control is grabbed the mechanism and is rotated, can make rotatory cap screw up, and then can accomplish more high-efficiently and make level.

In a specific embodiment of the present application, the moving mechanism includes a first shaft, a second shaft, and a third shaft, the third shaft is perpendicular to the first shaft and the second shaft, the first shaft is perpendicular to the second shaft, the third shaft is parallel to the height direction of the robot, an elastic member is disposed in the grabbing mechanism, the elastic member deforms when the grabbing mechanism and the leveling device are pressed against each other in the length direction of the main pin, a sixth control module includes a first control submodule, a second control submodule, a third control submodule, a fourth control submodule, and a fifth control submodule, the first control submodule is configured to control the third shaft to move the grabbing mechanism for a first distance until the elastic member in the grabbing mechanism deforms, and at this time, the tip of the leveling pin touches the leveling surface, for example, a tile surface; the second control submodule is used for controlling the first shaft to move so as to drive the grabbing mechanism to move until the main inserting needle of the leveling needle is inserted into the inserting seam area, and the deformation amount of the elastic piece is not changed in the process; the third control sub-module is used for controlling the third shaft to move to drive the grabbing mechanism to move for a second distance until the deformation amount of the elastic element changes again, at this time, the transverse blocking rod of the leveling needle is located on the leveling surface, namely, is blocked on the leveling surface, and in a specific embodiment, for example, when the tile is leveled, the leveling device may be hung on the tile surface; the fourth control submodule is used for controlling the grabbing mechanism to rotate so that the transverse blocking rod is in a preset position, the preset position is a position where the transverse blocking rod can enter the slot inserting area when moving along the moving direction of the third shaft, namely the transverse blocking rod is aligned with the slot inserting area, and the transverse blocking rod can enter the slot inserting area when subsequently moving downwards; and the fifth control submodule is used for controlling the third shaft to move so as to drive the grabbing mechanism to move for a third distance, so that the leveling needle is completely inserted into the inserting seam area. The method further ensures that the leveling needle is completely inserted into the seam insertion area.

In order to control the process that the inserting seam is inserted to the inserting needle of making level more accurately, in a specific embodiment of this application, make level the robot and still include the deformation sensor, above-mentioned deformation sensor is used for detecting pressure signal, and when the elastic component takes place deformation, then provide pressure for the ware of making level, the deformation sensor sends triggering signal. The above-mentioned moving mechanism of control drives the above-mentioned mechanism of snatching and removes for the in-process of above-mentioned leveling needle inserted the seam region completely, under the condition that receives the trigger signal of above-mentioned deformation sensor, can confirm that the elastic component in the above-mentioned mechanism of snatching takes place deformation, under the condition that has not received the trigger signal, can confirm that the elastic component in the mechanism of snatching no longer takes place deformation. Specifically, when the third shaft is controlled to move to drive the grabbing mechanism to move for a first distance, under the condition of receiving a trigger signal of the deformation sensor for the first time, the elastic part in the grabbing mechanism can be determined to deform; when the first shaft is controlled to move to drive the grabbing mechanism to move, and the deformation of the elastic part does not change when the deformation sensor is not received, the main inserting needle of the leveling needle is represented to be inserted into the inserting seam area; when the third shaft is controlled to move to drive the grabbing mechanism to move for a second distance, and the trigger signal of the deformation sensor is received again, the deformation of the representing elastic piece changes again, namely the transverse blocking rod of the leveling needle is located on the leveling surface, namely is blocked on the leveling surface.

In another specific embodiment of the present application, the moving mechanism includes a first shaft, a second shaft, and the third shaft, the third shaft is perpendicular to the first shaft and the second shaft, the first shaft is perpendicular to the second shaft, and the third shaft is parallel to the height direction of the robot, the apparatus further includes a tenth control unit and an eleventh control unit, the tenth control unit is configured to control the moving mechanism to drive the grabbing mechanism to move continuously, so as to move the leveling device to the seam insertion area for installation, and control the third shaft to move to a safe position until the leveling is completed; and the eleventh control unit is used for controlling the rotating part in the grabbing mechanism to return to the non-rotating zero position. In this embodiment, after the operation of making level, remove the third axle to the safe position, can further improve the security of the robot of making level, will snatch the rotating member in the mechanism and resume to non-pivoted zero point position to make and snatch mechanism and moving mechanism and can reset, further guarantee subsequent high-efficient accurately make level.

The present application further provides a leveling system, as shown in fig. 3, including a leveling robot and a controller 11, wherein the leveling robot includes a chassis 12, a grabbing mechanism 13, a moving mechanism 14 and a feeding structure 15, the moving mechanism 14 is installed on the chassis 12, the grabbing mechanism 13 is installed on a moving end of the grabbing mechanism 13, and the feeding structure 15 is installed on the chassis 12; a controller 11 is in communication with the leveling robot, the controller 11 being configured to perform any of the above-described control methods.

The system comprises the leveling robot and the controller, wherein the controller executes any control method of the leveling robot, the chassis is controlled to move according to a moving path, the seam inserting area is determined, then the position of the chassis is fixed, and the feeding structure, the moving mechanism and the grabbing mechanism of the leveling robot are controlled to move, so that full-automatic accurate leveling can be realized, and the leveling efficiency of the leveling robot is better.

Specifically, in a specific embodiment of the present application, as shown in fig. 3, the leveling robot of the system further includes an obstacle avoidance radar 16, an industrial personal computer 17, a camera 18, a remote DI/DO19, a sensor 21, a button/indicator lamp 22, a tightening motor 23, a camera light source 24, and a driver 25, the controller 11 is composed of an AGV controller 11 and an expansion module, wherein the AGV controller 11 is used for controlling the system, the expansion module is in communication connection with the obstacle avoidance radar 16, the remote DI/DO19, the chassis 12, the industrial personal computer 17, etc. of the leveling robot, the obstacle avoidance radar 16 is connected with the controller 11 through an I/O module, the grabbing mechanism 13 is connected with the controller 11 through an RS485 interface, the driver 25 is connected with the controller 11 through a CAN port, the chassis 12 is connected with the controller 11 through an RS232 serial port, the industrial personal computer 17 is in communication with the controller 11 through a TCP/IP protocol, the controller 11 executes the control method of the leveling robot, all parts of the leveling robot can be controlled to coordinate to complete the full-automatic leveling operation of the ceramic tiles, the chassis 12 can use a four-wheel chassis 12 or other wheel type mechanisms, only the walking precision on the upper surface of the ceramic tiles needs to be met, meanwhile, the robot is provided with a radar navigation and vision system and a laser radar, the laser radar is responsible for receiving the walking position information of the robot and is connected with the controller 11, the four-wheel chassis 12 is responsible for the whole walking of the robot and supports other parts, the vision system can help the robot to walk to the accurate position for installing the leveling device, the chassis 12 correction is carried out after one leveling device is installed, the robot is prevented from being rubbed and deviated due to the fact that the brick surface is too smooth, and therefore the robot can be further guaranteed to move according to the moving path, and then carry out normal operation, pay-off structure 15 accomplishes carrying one by one to the ware of making level, can be reliable stable provide the ware of making level, when chassis 12 walking seeks the gap, after finding the brick seam, can send the instruction that targets in place to controller 11, pay-off structure 15 will make level the ware and send to the discharge gate, in order to guarantee that follow-up mechanism 13 that snatchs the ware of making level, can detect whether pay-off structure 15 will make level the ware propelling movement to the discharge gate with one through the inductor, moving mechanism 14 drives and snatchs mechanism 13 and accomplish to get behind the ware of making level to the discharge gate position, send the instruction and send to controller 11, the ware of making level that sends the discharge gate has been taken away, pay-off structure can push away next ware of making level and fill, in order to satisfy the ware of making level of next time and snatch.

In order to make the technical solutions of the present application more clear to those skilled in the art, the technical solutions of the present application will be described below with reference to specific embodiments.

Examples

The embodiment describes the tile leveling field, and as shown in fig. 4, the control method of the leveling robot comprises the following steps:

the grabbing mechanism is a module and detects whether the module returns to the original position or not;

under the condition that the module is detected not to return to the original point position, controlling each shaft of the moving mechanism to return to the corresponding original point position, wherein the moving mechanism comprises three shafts, the first shaft is an X shaft, the second shaft is a Y shaft, and the third shaft is a Z shaft, controlling the Z shaft to return to the original point position, controlling the XY shaft to return to the original point position, controlling the grabbing mechanism to return to the original point position, and controlling the feeding shaft to return to the original point position;

under the condition that the module returns to the original position, controlling a rotating part in the grabbing mechanism to return to the non-rotating zero position;

detecting the height of a Z axis, controlling the Z axis to return to a safe height under the condition that the height of the Z axis is in a non-safe height, and controlling the chassis of the leveling robot to move under the condition that the height of the Z axis is in a safe height;

controlling a camera of the leveling robot to shoot, wherein the shooting area is a joint inserting area, and the joint inserting area is a cross-shaped brick joint of the ceramic tile;

the chassis is subjected to position correction, whether the chassis position correction is finished or not is detected through photographing, a camera of the leveling robot is controlled again to photograph under the condition that the position correction is not finished, and the feeding shaft is controlled to feed materials to the discharge hole under the condition that the position correction is finished, and the leveling device is used for feeding materials;

detecting whether a material exists at a material port, sending prompt information to remind feeding when the material does not exist at the material port, controlling an XY axis to reach a material taking position and controlling a Z axis to move downwards when the material exists at the material port;

controlling the grabbing mechanism to take materials and controlling the Z axis to be lifted to a safe height;

detecting whether material taking is successful or not, namely detecting whether the material taking is finished or not, under the condition that the material taking is unsuccessful, controlling the Z-axis to move downwards again, and under the condition that the material taking is successful, sending a material taking success signal;

controlling the XY axes to move, controlling the Z axis to press down for a certain distance a and then stopping when the XY axes reach the position of the inserting needle;

controlling the X axis to move forwards relatively, and detecting whether the needle point enters a seam or not, wherein the leveling needle is a steel needle, and the needle point is the needle point of the steel needle;

under the condition that the needle point does not enter the seam, the X-axis is controlled to move forwards oppositely, and under the condition that the needle point enters the seam, the X-axis is controlled to stop moving;

controlling the Z axis to press a certain distance b and then stopping; controlling the grabbing mechanism to rotate within 5 degrees;

detecting whether the steel needle enters a seam or not, controlling the grabbing mechanism to rotate within 5 degrees again under the condition that the steel needle does not enter the seam, wherein the grabbing mechanism is a grabbing motor, and controlling the Z shaft to press downwards for a certain distance c and then stop under the condition that the steel needle enters the seam;

the grabbing mechanism is controlled to rotate by 90 degrees and then locked, and the tightening motor is controlled to rotate so as to tighten the nut of the leveling device;

controlling the Z axis to be lifted to a safety position;

and controlling the grabbing mechanism to return to the zero position.

The control device of the leveling robot comprises a processor and a memory, wherein the acquisition unit, the first control unit, the second control unit, the third control unit, the fourth control unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.

The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. One or more than one kernel can be set, and the leveling can be accurately and efficiently carried out by adjusting the kernel parameters.

The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

An embodiment of the present invention provides a computer-readable storage medium, on which a program is stored, where the program, when executed by a processor, implements the control method for the leveling robot.

The embodiment of the invention provides a processor, which is used for running a program, wherein the control method of the leveling robot is executed when the program runs.

The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:

step S101, acquiring a moving path;

and S105, controlling the moving mechanism to drive the grabbing mechanism to continuously move so as to move the leveling device to the slot inserting area for installation until the leveling is finished.

The device herein may be a server, a PC, a PAD, a mobile phone, etc.

The present application further provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:

step S101, acquiring a moving path;

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:

1) the control method of the leveling robot comprises the steps of firstly, obtaining a moving path, then controlling a chassis to move according to the obtained moving path, determining the seam insertion area of the leveling device, then controlling a feeding structure to deliver the leveling device to a discharge hole, then controlling a moving mechanism to move, driving a rotating and taking mechanism to move by the moving mechanism, moving a grabbing mechanism to grab the leveling device, and finally controlling the moving mechanism to continuously move, driving the grabbing mechanism to continuously move so as to move the leveling device to the seam insertion area until the leveling device is leveled. According to the method, the chassis is controlled to move according to the moving path, the seam insertion area is determined, then the position of the chassis is fixed, and the feeding structure, the moving mechanism and the grabbing mechanism of the leveling robot are controlled to move, so that full-automatic accurate leveling can be achieved, and the leveling efficiency of the leveling device is good.

2) The utility model provides a control device of robot of making level, the acquisition unit acquires the removal route, first the control unit removes according to the removal route control chassis that acquires, confirm the seam region of inserting of the ware of making level, second the control unit control pay-off structure will make level the ware and send to the discharge gate, third the control unit control moving mechanism removes, moving mechanism can drive and change the mechanism removal of getting, it can snatch the ware of making level to snatch the mechanism removal, fourth the control unit control moving mechanism continues to remove, moving mechanism drives and snatchs the mechanism and continue to remove to insert the seam region, until accomplishing the removal of making level. In the device, remove according to the removal route through the control chassis to confirm that the seam is inserted regional, later, the position of fixed chassis, the control is made level feeding structure, the moving mechanism of robot and is snatched the mechanism and remove, can realize full-automatic accurate making level like this, makes level the efficiency of making level of ware better.

3) The utility model provides a system of making level, including the robot and the controller of making level, the controller carries out any kind of control method of the robot of making level, moves according to the removal route through the control chassis to confirm that the seam is regional, afterwards, the position on fixed chassis, the pay-off structure, the moving mechanism and the grabbing mechanism of the robot of making level of control remove, can realize full-automatic accurate making level like this, make level the efficiency of making level of ware better.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control method of a leveling robot is characterized in that the leveling robot comprises a chassis, a grabbing mechanism, a moving mechanism and a feeding structure, wherein the moving mechanism is installed on the chassis, the grabbing mechanism is installed on a moving end of the moving mechanism, and the feeding structure is installed on the chassis, and the control method comprises the following steps:

acquiring a moving path;

controlling the chassis to move according to the moving path, and determining a seam insertion area of the leveling device, wherein the seam insertion area is an area between two surfaces to be leveled;

controlling the feeding structure to feed the leveling device to a discharge hole;

controlling the moving mechanism to drive the grabbing mechanism to move so as to grab the leveling device;

and controlling the moving mechanism to drive the grabbing mechanism to continuously move so as to move the leveling device to the slot inserting area for installation until the leveling is completed.

2. The method of claim 1, wherein prior to controlling the chassis to move according to the travel path and determining the tuck-in-slit region of the screed, the method of controlling further comprises:

detecting whether the grabbing mechanism is located at a corresponding original position;

under the condition that the grabbing mechanism is not located at the corresponding original position, controlling each axis of the moving mechanism to return to the corresponding original position and the grabbing mechanism to return to the corresponding original position;

and under the condition that the grabbing mechanism is positioned at the corresponding original position, controlling a rotating part in the grabbing mechanism to return to a non-rotating zero position.

3. The method of claim 2, wherein in the event that it is detected that the grasping mechanism is not located at the corresponding origin, controlling each axis of the moving mechanism back to the corresponding origin and the grasping mechanism back to the corresponding origin such that the grasping mechanism is located at the corresponding origin comprises:

control the third axle in proper order and remove to the initial point position that corresponds, the primary shaft removes to the initial point position that corresponds, the secondary shaft removes to the initial point position that corresponds snatch the mechanism and remove to the initial point position that corresponds to pay-off spindle in the structure, moving mechanism includes the primary shaft the secondary shaft and the third axle, the third axle with the primary shaft with the secondary shaft is perpendicular respectively, just the primary shaft with the secondary shaft is perpendicular, the third axle with the direction of height of the robot of making level is parallel.

4. The method of claim 2, wherein after controlling the rotating member of the gripping mechanism to return to the non-rotated zero position, the controlling method further comprises, before controlling the chassis to move according to the travel path and determining the tuck-in area of the screed machine:

detecting the height of a third shaft of the moving mechanism, wherein the moving mechanism comprises a first shaft, a second shaft and the third shaft, the third shaft is respectively vertical to the first shaft and the second shaft, the first shaft is vertical to the second shaft, and the third shaft is parallel to the height direction of the leveling robot;

and determining whether the height of the third shaft is a safe height, if not, controlling the third shaft to move to the safe height, wherein the safe height is a height which can not collide with the feeding structure when the grabbing mechanism translates.

5. The method of any of claims 1-4, wherein prior to controlling the feed structure to deliver the screed machine to the tap hole, after controlling the chassis to move in the travel path and determining the plunge gap region of the screed machine, the method of controlling further comprises:

correcting the position of the chassis to enable a preset surface of the chassis to be parallel to a surface to be leveled, wherein the preset surface is a surface perpendicular to the height direction of the chassis;

detecting whether the chassis completes the position correction or not, and under the condition that the position correction is not completed, performing the position correction on the chassis again until the chassis completes the position correction.

6. The method of any one of claims 1 to 4, wherein controlling the feed structure to deliver the screed machine to a tap hole comprises:

under the condition that the feeding structure is controlled to move to the limit position, detecting whether the leveling device exists at the discharging opening, wherein the limit position is the position of the feeding structure when a pushing component for pushing the leveling device moves to the maximum distance;

replenishing the screed into the leveling robot without the screed at the discharge port;

and controlling the feeding structure to move so as to send the leveling device to the discharge hole.

7. The method of claim 1, wherein the movement mechanism comprises a first axis, a second axis, and a third axis, the third axis being perpendicular to the first axis and the second axis, respectively, and the first axis and the second axis being perpendicular,

the third shaft is parallel to the height direction of the leveling robot,

control moving mechanism drives it removes to snatch the mechanism, in order to snatch the ware of making level includes:

controlling the first shaft and the second shaft to move so as to drive the grabbing mechanism to reach a material preparation and taking position;

controlling the third shaft to move so as to drive the grabbing mechanism to reach a material taking position from the prepared material taking position;

the grabbing mechanism grabs the leveling device at the material taking position.

8. The method according to any one of claims 1 to 4, wherein after controlling the moving mechanism to move the gripping mechanism to grip the screed, the controlling method further comprises, before controlling the moving mechanism to move the gripping mechanism to move the screed to the slot area for installation until the leveling is completed:

detecting whether the grabbing of the leveling device is finished or not;

and under the condition that the grabbing of the leveling device is not completed, the feeding structure is controlled again to send the leveling device to the discharge hole until the grabbing of the leveling device is completed.

9. The method according to claim 1, wherein the moving mechanism comprises a first axis, a second axis, and a third axis, the third axis being perpendicular to the first axis and the second axis, respectively, and the first axis and the second axis, the third axis being parallel to a height direction of the leveling robot,

after controlling the moving mechanism to drive the grabbing mechanism to move so as to grab the screed, controlling the moving mechanism to drive the grabbing mechanism to continue moving so as to move the screed to the seam insertion area for installation until leveling is completed, the control method further includes:

and controlling the third shaft to move to a safe height, wherein the safe height is a height which can not collide with the feeding structure when the grabbing mechanism is translated.

10. The method according to claim 1, wherein the leveling device comprises a leveling body, a leveling needle and a rotary cap, the rotary cap is connected with the leveling body, the leveling needle comprises a main pin and a transverse bar, the main pin and the transverse bar are connected in a criss-cross manner,

control moving mechanism drives snatch the mechanism and continue to remove to with the ware of making level moves to the seam insertion region is installed, until accomplishing to make level, include:

controlling the moving mechanism to drive the grabbing mechanism to move, so that the leveling device reaches the position above the seam insertion area;

controlling the moving mechanism to drive the grabbing mechanism to move, so that the leveling needle is completely inserted into the seam insertion area;

controlling the grabbing mechanism to rotate so that the transverse blocking rod is perpendicular to the edge line of the surface to be leveled;

controlling the gripping mechanism to rotate to tighten the rotating cap.

11. The method according to claim 10, wherein the moving mechanism comprises a first shaft, a second shaft and a third shaft, the third shaft is perpendicular to the first shaft and the second shaft, the first shaft is perpendicular to the second shaft, the third shaft is parallel to the height direction of the robot, an elastic member is disposed in the grabbing mechanism, when the grabbing mechanism and the leveling device are pressed against each other in the length direction of the main insertion pin, the elastic member deforms, and the moving mechanism is controlled to drive the grabbing mechanism to move, so that the leveling pin is completely inserted into the insertion slot area, and the method comprises:

controlling the third shaft to move to drive the grabbing mechanism to move for a first distance until an elastic piece in the grabbing mechanism deforms;

controlling the first shaft to move to drive the grabbing mechanism to move until a main inserting needle of the leveling needle is inserted into the inserting seam area;

controlling the third shaft to move to drive the grabbing mechanism to move for a second distance until the deformation of the elastic piece changes again;

controlling the grabbing mechanism to rotate so that the transverse blocking rod is in a preset position, wherein the preset position is a position where the transverse blocking rod can enter the slot inserting area when moving along the moving direction of the third shaft;

and controlling the third shaft to move to drive the grabbing mechanism to move for a third distance, so that the leveling needle is completely inserted into the inserting seam area.

12. The method according to claim 1, wherein the moving mechanism includes a first axis, a second axis, and a third axis, the third axis being perpendicular to the first axis and the second axis, respectively, and the third axis being parallel to a height direction of the robot,

controlling the moving mechanism to drive the grabbing mechanism to move continuously so as to move the leveling device to the seam insertion area for installation until the leveling is finished, wherein the control method further comprises the following steps:

controlling the third shaft to move to a safe position;

and controlling the rotating part in the grabbing mechanism to return to the non-rotating zero position.

13. The utility model provides a controlling means of robot makes level, its characterized in that, the robot makes level includes the chassis, snatchs mechanism, moving mechanism and pay-off structure, moving mechanism installs on the chassis, it installs to snatch the mechanism moving mechanism's removal is served, the pay-off structure is installed on the chassis, controlling means includes:

an acquisition unit configured to acquire a movement path;

the first control unit is used for controlling the chassis to move according to the moving path and determining a seam insertion area of the leveling device, wherein the seam insertion area is an area between two surfaces to be leveled;

the second control unit is used for controlling the feeding structure to feed the leveling device to the discharge hole;

the third control unit is used for controlling the moving mechanism to drive the grabbing mechanism to move so as to grab the leveling device;

and the fourth control unit is used for controlling the moving mechanism to drive the grabbing mechanism to continuously move so as to move the leveling device to the seam insertion area for installation until the leveling is finished.

14. A leveling system, comprising:

the leveling robot comprises a chassis, a grabbing mechanism, a moving mechanism and a feeding structure, wherein the moving mechanism is installed on the chassis, the grabbing mechanism is installed on the moving end of the moving mechanism, and the feeding structure is installed on the chassis;

a controller in communication with the leveling robot, the controller configured to perform the control method of any one of claims 1-12.

15. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program performs the method of any one of claims 1 to 12.

16. A processor configured to run a program, wherein the program when executed performs the method of any one of claims 1 to 12.