CN114971948A - Position adjusting method, device, equipment and medium - Google Patents
Position adjusting method, device, equipment and medium Download PDFInfo
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- CN114971948A CN114971948A CN202110193884.7A CN202110193884A CN114971948A CN 114971948 A CN114971948 A CN 114971948A CN 202110193884 A CN202110193884 A CN 202110193884A CN 114971948 A CN114971948 A CN 114971948A
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Abstract
The embodiment of the invention discloses a position adjusting method, a position adjusting device, position adjusting equipment and a position adjusting medium. The method comprises the following steps: the method comprises the steps of controlling a decorative material grabbing device to grab a decorative material to be paved, acquiring linear signals corresponding to the pre-paving position of the decorative material in a preset signal grid based on at least two signal receiving devices, and acquiring position deviation between the linear signals respectively received by the at least two signal receiving devices and corresponding standard signals, wherein the preset signal grid is formed in a preset distribution state based on a preset number of signal transmitting devices; and controlling the decorative material grabbing device to drive the decorative material to be paved to move according to the position deviation respectively determined by the at least two signal receiving devices so as to adjust each edge of the decorative material to be paved to be parallel to the linear signal of the preset signal grid. The problem of the accumulative error that forms when spreading the ornamental material of waiting to mat formation, lead to ornamental material to spread and paste not aesthetic is solved, realize improving the effect of the whole quality that ornamental material grabbing device spread and paste the ornamental material of waiting to mat formation.
Description
Technical Field
The embodiment of the invention relates to the technical field of brick paving, in particular to a position adjusting method, a position adjusting device, position adjusting equipment and a position adjusting medium.
Background
In the current building industry, floor tile paving is an important part, and the overall brick joint is an important parameter in the acceptance standard of the tile paving.
The floor tiles are paved at present. The manual mode can ensure the precision of the overall tile paving by using auxiliary methods such as elastic lines, and the like, while the visual alignment scheme is used in the paving operation of the traditional robot, the visual alignment refers to the last tile paved for paving, and the single error caused by the visual alignment gradually forms accumulated errors after multiple rows or multiple columns are paved.
Disclosure of Invention
The embodiment of the invention provides a position adjusting method, a position adjusting device, position adjusting equipment and a position adjusting medium, so that accumulated errors formed when a gripping device is used for paving a decorative material to be paved are eliminated, and the overall quality of paving the decorative material to be paved by a robot is improved.
In a first aspect, an embodiment of the present invention provides a position adjustment method, where the method includes:
controlling a decorative material grabbing device to grab a decorative material to be paved, acquiring a linear signal corresponding to a pre-paving position of the decorative material in a preset signal grid based on at least two signal receiving devices, and acquiring position deviation between the linear signal and a corresponding standard signal respectively received by the at least two signal receiving devices, wherein the preset signal grid is formed in a preset distribution state based on a preset number of signal transmitting devices;
and controlling the decorative material grabbing device to drive the decorative material to be paved to move according to the position deviation respectively determined by the at least two signal receiving devices so as to adjust each edge of the decorative material to be paved to be parallel to the linear signal of the preset signal grid.
In a second aspect, an embodiment of the present invention further provides a position adjustment apparatus, where the apparatus includes:
the device comprises a linear signal acquisition module, a signal transmission module and a signal processing module, wherein the linear signal acquisition module is used for controlling a decorative material grabbing device to grab a decorative material to be paved, acquiring linear signals corresponding to the pre-paving position of the decorative material in a preset signal grid based on at least two signal receiving devices, and acquiring position deviation between the linear signals respectively received by the at least two signal receiving devices and corresponding standard signals, wherein the preset signal grid is formed in a preset distribution state based on a preset number of signal transmitting devices;
and the position deviation determining module is used for controlling the decorative material grabbing device to drive the decorative material to be paved to move according to the position deviations respectively determined by the at least two signal receiving devices so as to adjust each edge of the decorative material to be paved to be parallel to the linear signal of the preset signal grid.
In a third aspect, an embodiment of the present invention further provides a position adjustment device, where the position adjustment device includes:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a position adjustment method as provided by any of the embodiments of the invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the position adjustment method according to any embodiment of the present invention.
According to the technical scheme of the embodiment of the invention, the decorative material to be paved is grabbed by controlling the decorative material grabbing device, linear signals corresponding to the pre-paving position of the decorative material in a preset signal grid are obtained based on at least two signal receiving devices, and the position deviation between the linear signals received by the at least two signal receiving devices and corresponding standard signals is respectively obtained based on the position deviation between the linear signals respectively received by the at least two signal receiving devices and the corresponding standard signals, wherein the preset signal grid is formed in a preset distribution state based on a preset number of signal transmitting devices; and calculating the distance between the two signal receiving devices according to the position deviation respectively determined by the at least two signal receiving devices, calculating the angle of the decorative material to be paved which needs to rotate according to the distance and the position deviation, and enabling the decorative material to be paved to coincide with the pre-paving position after rotating the angle. The ornamental material grabbing device is controlled to drive the ornamental material to be paved to move so as to adjust each edge of the ornamental material to be paved to be parallel to the linear signal of the preset signal grid, the problem that the ornamental material is not attractive due to paving of the ornamental material due to accumulated errors formed when the ornamental material to be paved is solved, and the effect of improving the overall quality of the ornamental material to be paved by the ornamental material grabbing device is achieved.
Drawings
Fig. 1 is a flowchart of a position adjustment method according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a predetermined signal grid according to one embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a signal receiving apparatus according to a first embodiment of the present invention receiving a linear signal;
FIG. 4 is a flowchart illustrating a position adjustment method according to a second embodiment of the present invention;
FIG. 5 is a diagram illustrating a standard positional relationship and a current positional relationship according to a second embodiment of the present invention;
fig. 6 is a schematic structural diagram of a position adjustment apparatus according to a fourth embodiment of the present invention;
fig. 7 is a schematic structural diagram of a position adjustment device in a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a position adjustment method according to an embodiment of the present invention, where the embodiment is applicable to controlling a gripping device to lay and paste a decorative material, and the method may be executed by the position adjustment device, and specifically includes the following steps:
s110, the decorative material grabbing device is controlled to grab the decorative material to be paved, linear signals corresponding to the pre-paving position of the decorative material in a preset signal grid are obtained based on the at least two signal receiving devices, and the position deviation between the linear signals respectively received by the at least two signal receiving devices and corresponding standard signals is also based on the at least two signal receiving devices, wherein the preset signal grid is formed in a preset distribution state based on a preset number of signal transmitting devices.
The decorative material grabbing device is controlled to grab the decorative material to be paved and pasted, and then the decorative material to be paved and pasted is paved and pasted, when paving and pasting are carried out, the decorative material to be paved and pasted is not completely overlapped with the corresponding pre-paving position, so that the decorative material to be paved and pasted and the paved decorative material cannot be aligned, the accumulative error of paving and pasting of the decorative material can occur, the more the decorative material is paved and pasted, the larger the accumulative error is, and the paving and pasting quality of the decorative material is further influenced.
Optionally, after the decorative material grabbing device is controlled to grab the decorative material to be paved, the method includes: and controlling the decorative material grabbing device to adjust the decorative material to be paved to be parallel to the plane of the pre-paving position. Optionally, when the decorative material is a floor tile, the plane of the pre-paving position is the ground, after the decorative material grabbing device grabs the decorative material to be paved, the decorative material may not be parallel to the ground, and when the decorative material is not parallel to the ground, the signal receiving device on the decorative material grabbing device cannot receive all the linear signals corresponding to the pre-paving position, so that after the decorative material grabbing device grabs the decorative material to be paved, the decorative material needs to be adjusted to be parallel to the ground, the signal receiving device is convenient to receive the linear signals, and paving and pasting of the decorative material are also convenient. Optionally, the grabbed decoration material can be adjusted to be parallel to the ground by an inclinometer with a calibrated horizontal position. Optionally, the plane of the pre-paved position can be a wall surface, and the decorative material can be wall bricks. After the decorative material is grabbed to be paved, the decorative material is adjusted to be parallel to the wall surface.
Alternatively, the linear signal emitted by the signal emitting device may be a laser signal or an infrared signal. The signal receiving device may be a sensor or a receiving head that receives a signal such as a laser signal or an infrared signal, and the receiving head includes a chip that processes the received signal.
Optionally, a preset number of signal emitting devices emit linear signals in a preset distribution state, the linear signals emitted by each signal emitting device form the preset signal grid, and each grid in the preset signal grid is a pre-laid position of each decorative material. Before the decorative material is paved, the distribution state of the signal emitting devices is preset according to the pre-paving position of the decorative material, and the linear signal emitting devices are installed according to the preset distribution state, so that linear signals emitted by the linear signal emitting devices form preset signal grids, and each grid represents the pre-paving position of each decorative material. And paving and pasting the decorative material according to the preset signal grids, so that the edges of the decorative material are aligned with the grid lines corresponding to the pre-paving positions, and the paving and pasting errors are prevented, so that the decorative material is not attractive in paving and pasting, and the paving and pasting quality is hard. Fig. 2 is a schematic diagram of a preset signal grid, in which the preset signal grid is a square grid and is composed of straight line signals.
Optionally, the decorative material to be paved is grabbed by controlling the decorative material grabbing device, and the grabbed decorative material to be paved is kept horizontal by adjusting the decorative material grabbing device through the inclinometer with the zero point calibrated on the decorative material grabbing device. The decorative material grabbing device is controlled to move to drive the decorative material to be paved to move to the corresponding pre-paving position, at least two signal receiving devices arranged on the decorative material grabbing device receive linear signals corresponding to the pre-paving position of the decorative material, and optionally, the linear signals corresponding to the pre-paving position of the decorative material comprise first linear signals or second linear signals which are perpendicular to each other. And receiving a first linear signal corresponding to the pre-laying position of the decorative material or receiving a second linear signal perpendicular to the first linear signal through at least two signal receiving devices on the grabbing device. When the decorative material to be paved and pasted is paved, the position deviation is calculated according to the position of the received linear signal and the position of the standard linear signal calibrated by the signal receiving device, the position deviation between the signals represents the deviation between the current position and the pre-paving position of the decorative material to be paved and pasted, when the decorative material to be paved and pasted is paved and pasted, the position deviation is eliminated, so that the decorative material to be paved and the pre-paving position are completely aligned, the decorative material to be paved and pasted is paved and pasted after alignment, paving errors can not occur, and the attractiveness of paving and pasting of the decorative material is ensured.
And S120, controlling the decorative material grabbing device to drive the decorative material to be paved to move according to the position deviation determined by the at least two signal receiving devices respectively so as to adjust each edge of the decorative material to be paved to be parallel to the linear signal of the preset signal grid.
Optionally, the controlling, according to the position deviations respectively determined by the at least two signal receiving devices, the decorative material gripping device to drive the decorative material to be paved to move, so as to adjust each edge of the decorative material to be paved to be parallel to the linear signal of the preset signal grid, includes: calculating an included angle between the linear signal and the corresponding standard linear signal according to the position deviation; and when the included angle is larger than or smaller than zero degree, controlling the decorative material grabbing device to drive the decorative material to be paved to rotate according to the included angle so as to adjust the relative position of the decorative material to be paved and the corresponding pre-paving position until each edge of the decorative material to be paved is parallel to the linear signal of the preset signal grid. When the edge of the decorative material to be paved is not parallel to the linear signal corresponding to the pre-paving position, the decorative material is controlled to grab and drive the decorative material to be paved to rotate, so that the edge of the decorative material to be paved is parallel to the linear signal. The specific rotation angle is calculated according to the deviation between the position of the linear signal acquired by the signal receiving device and the position of the standard signal. The angle between the edge of the trim material and the linear signal is calculated from the deviation between the position of the linear signal and the position of the standard signal. When the included angle is larger than or smaller than zero degree, the edge of the decorative material to be paved is not parallel to the linear signal, and the decorative material grabbing device is controlled to drive the decorative material to be paved to rotate according to the calculated included angle, so that the edge of the decorative material to be paved is parallel to the linear signal.
Optionally, calculating an included angle between the linear signal and the corresponding standard linear signal according to the position deviation includes: acquiring a first position deviation calculated by a first signal receiving device; acquiring a second position deviation calculated by a second signal receiving device; determining a position offset sum based on the first position offset and the second position offset; and determining the included angle according to the distance between the first signal receiving device and the second signal receiving device and the position deviation. As shown in fig. 3, PSDA, PSDB, and PSDC are signal receiving devices. The PSDA is a first signal receiving device, the PSDB is a second signal receiving device, and the PSDA, the PSDB and the PSDC are calibrated to the position of the standard straight line signal. Receiving a straight line signal through the PSDA and the PSDB, as shown in FIG. 3, pre-establishing a coordinate system, and defining a connecting line of the PSDB and the PSDC as an x axis when aligning all edges of the decoration with the straight line signal corresponding to the pre-paved position, wherein the positive direction points to the PSDC; the line connecting the PSDA and the PSDB is defined as the y axis, and the positive direction points to the PSDA. The dotted line passing through the PSDA and the PSDB is a straight line signal actually received by the PSDA and the PSDB, the straight line passing through the PSDA and the PSDB is a standard straight line signal, and the reception position of the standard straight line signal is determined as a zero point of the coordinate system. Acquiring a first position deviation X1 between the linear signal calculated by the PSDA and the standard linear signal; and acquiring a second position deviation X2 between the linear signal calculated by the PSDB and the standard linear signal, wherein when the linear signal and the standard linear signal form an included angle, the sign of the first position deviation is opposite to that of the second position deviation, optionally, the first position deviation can be subtracted from the second position deviation to obtain a position deviation sum, and a distance L between the first signal receiving device and the second signal receiving device is acquired, wherein the distance L can be preset or can be calculated in advance. Calculating an included angle A between the linear signal and the standard linear signal according to the following formula: a ═ arcSin ((X1-X2)/L). When the sign of the position deviation sum is positive, the sign of the calculated included angle is positive, and when the sign of the position deviation sum is negative, the sign of the calculated included angle is negative. The rotating direction of the decorative material grabbing device is determined according to the signs of the included angles, and when the included angles are larger than zero, namely the signs of the included angles are positive, the decorative material grabbing device is controlled to drive the decorative material to be paved to rotate clockwise. And when the included angle is smaller than zero, namely the symbol of the included angle is negative, controlling the decorative material grabbing device to drive the decorative material to be paved to rotate in the anticlockwise direction.
Optionally, the absolute values of X1 and X2 may be taken, the absolute value of X1 and the absolute value of X2 are added to obtain a position deviation sum, and the sign of the position deviation sum is determined according to the signs of X1 and X2. Illustratively, when the sign of X1 is positive and the sign of X2 is negative, the sign of the position deviation sum is positive, and when the sign of X1 is negative and the sign of X2 is positive, the sign of the position deviation sum is negative.
Optionally, the absolute value of X1 and the absolute value of X2 are added to determine a position deviation sum, where the position deviation sum is a number greater than or equal to zero, an included angle between the linear signal and the standard linear signal is calculated according to the position deviation sum, the rotation direction of the decorating material gripping device is determined according to the signs of X1 and X2, when the sign of X1 is positive and the sign of X2 is negative, the decorating material gripping device is controlled to rotate clockwise, and when the sign of X1 is negative and the sign of X2 is positive, the decorating material gripping device is controlled to rotate counterclockwise.
Optionally, the method for calibrating the standard straight-line signal position of the signal receiving device includes: after the decorative material grabbing device is controlled to grab the decorative material to be paved, the decorative material grabbing device is adjusted to enable the decorative material to be paved to be in a horizontal state; controlling the decorative material gripping device to move to any pre-paving position, and aligning the edge of the decorative material to be paved, which is gripped by the decorative material gripping device, with the linear signal corresponding to the pre-paving position respectively; receiving a third linear signal and a fourth linear signal corresponding to the pre-paving position through at least three signal receiving devices to be calibrated on the decorating material grabbing device, wherein the third linear signal and the fourth linear signal are vertical to each other; and calibrating the receiving positions of the third linear signal and the fourth linear signal as the standard linear signal position of the corresponding signal receiving device. Before the signal receiving device receives the linear signal, the position of the standard linear signal needs to be calibrated, so that the position of the received linear signal is compared with the position of the calibrated standard linear signal, and the position deviation is obtained.
When the position of the standard straight line signal is calibrated, the decorative material gripping device is controlled to grip the decorative material, then the decorative material gripping device is adjusted to be in a horizontal state through a leveling device such as a level meter or a casting line instrument, so that the gripped decorative material is parallel to the ground, at the moment, the numerical value of the inclinometer mounted on the decorative material gripping device is reset, the horizontal position of the inclinometer is marked as a zero point, and the gripped decorative material is adjusted to be parallel to the ground through the inclinometer after the decorative material gripping device. After the grabbed decorative material is adjusted to be parallel to the ground, the grabbed decorative material to be paved is driven to move to any pre-paving position through the decorative material grabbing device, 4 edges of the decorative material to be paved are respectively aligned with 4 linear signals corresponding to the pre-paving position, at the moment, two linear signals corresponding to the pre-paving position are received through at least three signal receiving devices to be calibrated on the decorative material grabbing device, namely a third linear signal and a fourth linear signal, and the third linear signal and the fourth linear signal are perpendicular to each other. And calibrating the positions of the third linear signal and the fourth linear signal received by the signal receiving device as the positions of the standard linear signals. And calculating the position deviation between the position of the linear signal of the signal receiving device and the standard linear signal every time the decorative material to be paved is moved to the corresponding pre-paving position by the decorative material grabbing device according to the calibrated standard linear signal position, thereby obtaining the angle deviation between the decorative material to be paved and the pre-paving position.
Optionally, the method for calculating the distance between the first signal receiving device and the second signal receiving device includes: controlling the decorative material gripping device to grip the decorative material to be paved and then moving the decorative material to any pre-paving position, so that the linear signals corresponding to the pre-paving position are respectively aligned with the edge of the decorative material to be paved gripped by the decorative material gripping device; after the decorative material grabbing device is controlled to rotate by a preset angle, a fifth linear signal is received through the first signal receiving device and the second signal receiving device after rotation; acquiring a third position deviation of the fifth linear signal received by the first signal receiving device and the corresponding standard linear signal; acquiring a fourth position deviation of the fifth linear signal received by the second signal receiving device and the corresponding standard linear signal; and calculating the distance between the first signal receiving device and the second signal receiving device according to the third position deviation, the fourth position deviation and a preset angle. After the decorative material grabbing device grabs the decorative material to be paved and moved to the pre-paving position, the grabbed decorative material to be paved and adhered is adjusted by controlling the decorative material grabbing device, so that the edge with the paved and adhered decorative material is aligned with all linear signals of the pre-paving position, the decorative material grabbing device is controlled to drive the decorative material to rotate by a preset angle B, and the same linear signal is received by at least two signal receiving devices on the rotated decorative material grabbing device. And acquiring a third position deviation X3 and a fourth position deviation X4 of the straight line signal received by the two signal receiving devices and the standard straight line signal. Calculating a distance L between the two signal receiving devices according to the preset angle B, the third positional deviation X3 and the fourth positional deviation X4 by: l ═ X3-X4)/SinB.
Through the distance between two signal receiving devices which are pre-calculated and receive the same straight line signal, the included angle between the decorative material to be paved and the corresponding straight line signal is calculated according to the distance between the two signal receiving devices when the decorative material grabbing device grabs the decorative material to be paved and moves to the pre-paving position, the decorative material grabbing device is controlled according to the included angle to drive the decorative material to be paved to rotate, so that the edge of the decorative material to be paved is parallel to the corresponding straight line signal, the accumulated error of paving and pasting the decorative material is reduced, and the attractiveness of paving and pasting the decorative material is improved.
According to the technical scheme of the embodiment, the decorative material to be paved is grabbed by controlling the decorative material grabbing device, linear signals corresponding to the pre-paving position of the decorative material in a preset signal grid are obtained based on at least two signal receiving devices, and the position deviation between the linear signals received by the at least two signal receiving devices and corresponding standard signals is respectively obtained based on the position deviation between the linear signals respectively received by the at least two signal receiving devices and the corresponding standard signals, wherein the preset signal grid is formed in a preset distribution state based on a preset number of signal transmitting devices; and calculating the distance between the two signal receiving devices according to the position deviation respectively determined by the at least two signal receiving devices, calculating the angle of the decorative material to be paved which needs to rotate according to the distance and the position deviation, and enabling the decorative material to be paved to coincide with the pre-paving position after rotating the angle. The ornamental material grabbing device is controlled to drive the ornamental material to be paved to move so as to adjust each edge of the ornamental material to be paved to be parallel to the linear signal of the preset signal grid, the problem that the ornamental material is not attractive due to paving of the ornamental material due to accumulated errors formed when the ornamental material to be paved is solved, and the effect of improving the overall quality of the ornamental material to be paved by the ornamental material grabbing device is achieved.
Example two
Fig. 4 is a flowchart of a position adjustment method according to a second embodiment of the present invention, where this embodiment is further optimized based on the first embodiment, and the position adjustment method further includes: when each edge of the decoration material to be paved is parallel to the linear signal of the preset signal grid, acquiring the distance between the linear signal and the corresponding standard linear signal; and controlling the decorative material grabbing device to drive the decorative material to be paved to move in parallel according to the distance until all edges of the decorative material to be paved are aligned with the linear signals of the preset signal grids. The edges of the decorative material to be paved are aligned with the linear signals for the pre-paving position, so that the accumulated error of paving the decorative material is further reduced, and the attractiveness of paving the decorative material is improved.
As shown in fig. 4, the method specifically includes the following steps:
s210, the decorative material grabbing device is controlled to grab the decorative material to be paved, linear signals corresponding to the pre-paving position of the decorative material in the preset signal grid are obtained based on the at least two signal receiving devices, and the position deviation between the linear signals respectively received by the at least two signal receiving devices and the corresponding standard signals is also based on the at least two signal receiving devices, wherein the preset signal grid is formed in a preset distribution state based on a preset number of signal transmitting devices.
When the decorative material grabbing device is controlled to grab the decorative material, the relative positions of the decorative material and the decorative material grabbing device are changed after the decorative material is grabbed every time, and the decorative material grabbing device cannot be guaranteed to keep the same relative position every time the decorative material is grabbed. Therefore, grabbing errors exist when the decorative material is grabbed every time, the signal receiving device receives the linear signals, the position errors of the linear signals and the standard linear signals are calculated, and the decorative material grabbing device is controlled to move through the position errors. However, the decorative material grabber can only move because the relative positions of the decorative material grabber and the decorative material grabber are different, so that whether the decorative material is parallel to the linear signal or not can not be ensured. Therefore, when the decorative material is grabbed each time, the decorative material and the decorative material grabbing device need to be controlled to be at the same relative position, and the decorative material is ensured to be parallel to the linear signal after the decorative material grabbing device moves.
Optionally, when the decorative material gripping device is controlled to grip the current decorative material to be paved, a gripping error is determined according to a preset standard position relationship between the decorative material gripping device and the gripped decorative material to be paved and a position relationship between the current decorative material to be paved and the decorative material gripping device; and adjusting the relative position of the current decorative material to be paved and the decorative material grabbing device according to the grabbing error.
And setting a standard position relation between the decorative material gripping device and the gripped decorative material to be paved, wherein a dotted line is the standard position relation, and a solid line is the current position relation as shown in fig. 5. After the decorative material grabbing device grabs the decorative material every time, the shooting device shoots the current position relation between the decorative material and the decorative material grabbing device, the current position relation is compared with the standard position relation, the offset cx of the decorative material and the offset cy of the decorative material grabbing device in the x-axis direction and the offset cy of the decorative material grabbing device in the y-axis direction are respectively calculated, the relative position relation between the decorative material and the decorative material grabbing device is adjusted to be the standard position relation according to the offset, and therefore the paving and pasting positions of the decorative material can be conveniently corrected subsequently.
And S220, controlling the decorative material grabbing device to drive the decorative material to be paved to move according to the position deviation determined by the at least two signal receiving devices respectively so as to adjust each edge of the decorative material to be paved to be parallel to the linear signal of the preset signal grid.
S230, when each edge of the decoration material to be paved is parallel to the linear signal of the preset signal grid, acquiring the distance between the linear signal and the corresponding standard linear signal; and controlling the decorative material grabbing device to drive the decorative material to be paved to move in parallel according to the distance until all edges of the decorative material to be paved are aligned with the linear signals of the preset signal grids.
When the decorative material grabbing device is controlled to drive the decorative material to rotate, so that the edge of the decorative material is parallel to the linear signal of the pre-paving position, a certain distance is possibly formed between the edge of the decorative material and the linear signal in the horizontal direction, so that the linear signal needs to be received by the signal receiving device, the distance between the received linear signal and the standard linear signal is obtained, the decorative material grabbing device is controlled according to the distance to drive the decorative material to move in parallel until all the edges of the decorative material to be paved are aligned to the linear signal of the preset signal grid corresponding to the pre-paving position. At this time, after the position for paving and pasting the decorative material is adjusted, the decorative material can be paved and pasted on the correct paving and pasting position after the decorative material is paved and pasted. Further reducing the accumulated error of the paving and pasting and further improving the aesthetic property of the paving and pasting of the decorative material.
According to the technical scheme of the embodiment, the decorative material to be paved is grabbed by controlling the decorative material grabbing device, linear signals corresponding to the pre-paving position of the decorative material in a preset signal grid are obtained based on at least two signal receiving devices, and the position deviation between the linear signals received by the at least two signal receiving devices and corresponding standard signals is respectively obtained based on the position deviation between the linear signals respectively received by the at least two signal receiving devices and the corresponding standard signals, wherein the preset signal grid is formed in a preset distribution state based on a preset number of signal transmitting devices; and calculating the distance between the two signal receiving devices according to the position deviation respectively determined by the at least two signal receiving devices, calculating the angle of the decorative material to be paved which needs to rotate according to the distance and the position deviation, and enabling the decorative material to be paved to coincide with the pre-paving position after rotating the angle. Controlling the decorative material grabbing device to drive the decorative material to be paved to move so as to adjust each edge of the decorative material to be paved to be parallel to a linear signal of the preset signal grid, and acquiring the distance between the linear signal and the corresponding standard linear signal when each edge of the decorative material to be paved is parallel to the linear signal of the preset signal grid; according to distance control ornamental material grabbing device drives treat the parallel translation of mating formation decorative material, until treat the each edge of mating formation decorative material with the linear signal of preset signal net aligns, further reduces the accumulative error of spreading the ornamental material, improves the pleasing to the eye degree that the ornamental material was spread and is pasted, realizes improving the effect that ornamental material grabbing device spread the whole quality of the decorative material of mating formation.
EXAMPLE III
Fig. 6 is a schematic structural diagram of a position adjustment device according to a third embodiment of the present invention, where the position adjustment device includes: a line signal acquisition module 310 and a position deviation determination module 320.
The linear signal acquisition module 310 is configured to control the decorative material gripping device to grip a decorative material to be paved, acquire a linear signal corresponding to a pre-paving position of the decorative material in a preset signal grid based on at least two signal receiving devices, and acquire a position deviation between the linear signal received by each of the at least two signal receiving devices and a corresponding standard signal, where the preset signal grid is formed in a preset distribution state based on a preset number of signal transmitting devices;
and a position deviation determining module 320, configured to control the decorating material grabbing device to drive the decorating material to be paved to move according to the position deviations respectively determined by the at least two signal receiving devices, so as to adjust each edge of the decorating material to be paved to be parallel to the linear signal of the preset signal grid.
Optionally, a preset number of signal emitting devices emit linear signals in a preset distribution state, the linear signals emitted by each signal emitting device form the preset signal grid, and each grid in the preset signal grid is a pre-laid position of each decorative material.
The linear signals corresponding to the pre-laying position of the decorating material comprise first linear signals or second linear signals which are perpendicular to each other.
In a technical solution of the above embodiment, the position adjustment apparatus includes:
and the decorative material adjusting module is used for controlling the decorative material grabbing device to adjust the decorative material to be paved to be parallel to the plane of the pre-paving position.
In the technical solution of the above embodiment, the position deviation determining module 320 includes:
the included angle calculating unit is used for calculating the included angle between the linear signal and the corresponding standard linear signal according to the position deviation;
and the rotation control unit is used for controlling the decorative material grabbing device to drive the decorative material to be paved to rotate according to the included angle when the included angle is larger than or smaller than zero degree so as to adjust the relative position of the decorative material to be paved and the corresponding pre-paving position until each edge of the decorative material to be paved is parallel to the linear signal of the preset signal grid.
In the technical solution of the above embodiment, the included angle calculating unit includes:
a first positional deviation acquiring subunit configured to acquire a first positional deviation calculated by the first signal receiving device;
a second position deviation acquiring subunit configured to acquire a second position deviation calculated by the second signal receiving device;
a position deviation sum obtaining subunit configured to determine a position deviation sum based on the first position deviation and the second position deviation;
and the included angle determining subunit is used for determining the included angle according to the distance between the first signal receiving device and the second signal receiving device and the position deviation.
In the technical solution of the above embodiment, the position adjusting apparatus further includes: and a standard straight line signal position calibration module.
In the technical solution of the above embodiment, the standard straight line signal position calibration module includes:
the gripping device adjusting unit is used for controlling the decorative material gripping device to grip the decorative material to be paved and adjusting the decorative material gripping device to enable the decorative material to be paved to be in a horizontal state;
the control edge and signal parallel unit is used for controlling the decorative material gripping device to move to any pre-paving position, so that the edge of the decorative material to be paved, which is gripped by the decorative material gripping device, is parallel to the linear signals respectively corresponding to the pre-paving position;
the signal receiving unit is used for receiving a third linear signal and a fourth linear signal corresponding to the pre-paving position through at least three signal receiving devices to be calibrated on the decorating material grabbing device, and the third linear signal and the fourth linear signal are vertical to each other;
and the standard straight line signal calibration subunit is used for calibrating the receiving positions of the third straight line signal and the fourth straight line signal to be the standard straight line signal position of the corresponding signal receiving device.
In the technical solution of the above embodiment, the position adjusting apparatus further includes: and a distance calculation module.
In the technical solution of the above embodiment, the distance calculating module includes:
the grabbing device control unit is used for controlling the decorative material grabbing device to grab the decorative material to be paved and then move to any pre-paving position, so that the linear signals corresponding to the pre-paving position are respectively aligned with the edges of the decorative material to be paved grabbed by the decorative material grabbing device;
the fifth linear signal receiving unit is used for controlling the decorating material grabbing device to rotate by a preset angle and then receiving a fifth linear signal through the rotated first signal receiving device and the rotated second signal receiving device;
a third position deviation acquiring unit, configured to acquire a third position deviation between the fifth linear signal received by the first signal receiving device and a corresponding standard linear signal;
a fourth position deviation acquiring unit, configured to acquire a fourth position deviation between the fifth linear signal received by the second signal receiving device and a corresponding standard linear signal;
and the distance calculation unit is used for calculating the distance between the first signal receiving device and the second signal receiving device according to the third position deviation, the fourth position deviation and a preset angle.
In the technical solution of the above embodiment, the position adjusting apparatus further includes:
the distance acquisition module is used for acquiring the distance between the linear signal and the corresponding standard linear signal when each edge of the decoration material to be paved is parallel to the linear signal of the preset signal grid;
and the parallel movement control module is used for controlling the decorative material grabbing device to drive the decorative material to be paved to move in parallel according to the distance until each edge of the decorative material to be paved is aligned with the linear signal of the preset signal grid.
In the technical solution of the above embodiment, the position adjusting apparatus further includes:
the grabbing error obtaining module is used for controlling the decorative material grabbing device to grab the current decorative material to be paved, and determining grabbing errors according to the preset standard position relationship between the decorative material grabbing device and the grabbed decorative material to be paved and the position relationship between the current decorative material to be paved and the decorative material grabbing device;
and the position adjusting module is used for adjusting the relative position of the current decorative material to be paved and the decorative material grabbing device according to the grabbing error.
According to the technical scheme of the embodiment of the invention, the decorative material to be paved is grabbed by controlling the decorative material grabbing device, linear signals corresponding to the pre-paving position of the decorative material in a preset signal grid are obtained based on at least two signal receiving devices, and the position deviation between the linear signals received by the at least two signal receiving devices and corresponding standard signals is respectively obtained based on the position deviation between the linear signals respectively received by the at least two signal receiving devices and the corresponding standard signals, wherein the preset signal grid is formed in a preset distribution state based on a preset number of signal transmitting devices; and calculating the distance between the two signal receiving devices according to the position deviation respectively determined by the at least two signal receiving devices, calculating the angle of the decorative material to be paved which needs to rotate according to the distance and the position deviation, and enabling the decorative material to be paved to coincide with the pre-paving position after rotating the angle. The ornamental material grabbing device is controlled to drive the ornamental material to be paved to move so as to adjust each edge of the ornamental material to be paved to be parallel to the linear signal of the preset signal grid, the problem that the ornamental material is not attractive due to paving of the ornamental material due to accumulated errors formed when the ornamental material to be paved is solved, and the effect of improving the overall quality of the ornamental material to be paved by the ornamental material grabbing device is achieved.
The decorative material grabbing device provided by the embodiment of the invention can execute the decorative material grabbing method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 7 is a schematic structural diagram of a position adjustment apparatus according to a fourth embodiment of the present invention, as shown in fig. 7, the position adjustment apparatus includes a processor 410, a memory 420, an input device 430, and an output device 440; the number of the processors 410 in the position adjusting device may be one or more, and one processor 410 is taken as an example in fig. 7; the processor 410, the memory 420, the input device 430 and the output device 440 in the position adjustment apparatus may be connected by a bus or other means, and the connection by the bus is exemplified in fig. 7.
The memory 420 serves as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the position adjustment method in the embodiment of the present invention (for example, the straight signal acquisition module 310 and the position deviation determination module 320 in the position adjustment apparatus). The processor 410 executes various functional applications and data processing of the position adjusting apparatus by executing software programs, instructions, and modules stored in the memory 420, that is, implements the position adjusting method described above.
The memory 420 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 420 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 420 may further include memory located remotely from processor 410, which may be connected to a position adjustment device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 430 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function controls of the position adjustment apparatus. The output device 440 may include a display device such as a display screen.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a position adjustment method, including:
the method comprises the steps of controlling a decorative material grabbing device to grab a decorative material to be paved, obtaining linear signals corresponding to the pre-paving position of the decorative material in a preset signal grid based on at least two signal receiving devices, and obtaining position deviation between the linear signals respectively received by the at least two signal receiving devices and corresponding standard signals, wherein the preset signal grid is formed in a preset distribution state based on a preset number of signal transmitting devices;
and controlling the decorative material grabbing device to drive the decorative material to be paved to move according to the position deviation respectively determined by the at least two signal receiving devices so as to adjust each edge of the decorative material to be paved to be parallel to the linear signal of the preset signal grid.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the position adjustment method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the position adjustment apparatus, the included units and modules are only divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now be apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (12)
1. A position adjustment method, comprising:
the method comprises the steps of controlling a decorative material grabbing device to grab a decorative material to be paved, obtaining linear signals corresponding to the pre-paving position of the decorative material in a preset signal grid based on at least two signal receiving devices, and obtaining position deviation between the linear signals respectively received by the at least two signal receiving devices and corresponding standard signals, wherein the preset signal grid is formed in a preset distribution state based on a preset number of signal transmitting devices;
and controlling the decorative material grabbing device to drive the decorative material to be paved to move according to the position deviation respectively determined by the at least two signal receiving devices so as to adjust each edge of the decorative material to be paved to be parallel to the linear signal of the preset signal grid.
2. The method as claimed in claim 1, wherein after the controlling the decorating material grasping means grasps the decorating material to be spread, comprising:
and controlling the decorative material grabbing device to adjust the decorative material to be paved to be parallel to the plane of the pre-paving position.
3. The method according to claim 1, wherein the predetermined number of signal emitting devices emit linear signals in a predetermined distribution state, the linear signals emitted by each signal emitting device form a predetermined signal grid, and each grid in the predetermined signal grid is a pre-laid position of each decorating material;
the linear signals corresponding to the pre-laying position of the decorating material comprise first linear signals or second linear signals which are perpendicular to each other.
4. The method as claimed in claim 1, wherein the controlling the decorating material grabbing device to drive the decorating material to be paved to move according to the position deviation respectively determined by the at least two signal receiving devices so as to adjust each edge of the decorating material to be paved to be parallel to the linear signal of the preset signal grid comprises:
calculating an included angle between the linear signal and the corresponding standard linear signal according to the position deviation;
and when the included angle is larger than or smaller than zero degree, controlling the decorative material grabbing device to drive the decorative material to be paved to rotate according to the included angle so as to adjust the relative position of the decorative material to be paved and the corresponding pre-paving position until each edge of the decorative material to be paved is parallel to the linear signal of the preset signal grid.
5. The method of claim 4, wherein calculating an angle between a line signal and a corresponding standard line signal according to the position deviation comprises:
acquiring a first position deviation calculated by a first signal receiving device;
acquiring a second position deviation calculated by a second signal receiving device;
determining a position deviation sum based on the first position deviation and the second position deviation;
and determining the included angle according to the distance between the first signal receiving device and the second signal receiving device and the position deviation.
6. The method of claim 4, wherein the calibration method of the standard straight-line signal position of the signal receiving device comprises:
controlling the decorative material grabbing device to grab the decorative material to be paved and then moving the decorative material to any pre-paving position, so that the edge of the decorative material to be paved grabbed by the decorative material grabbing device is aligned to the linear signal corresponding to the pre-paving position respectively;
receiving a third linear signal and a fourth linear signal corresponding to the pre-paving position through at least three signal receiving devices to be calibrated on the decorating material grabbing device, wherein the third linear signal and the fourth linear signal are vertical to each other;
and calibrating the receiving positions of the third linear signal and the fourth linear signal as the standard linear signal position of the corresponding signal receiving device.
7. The method of claim 6, wherein the calculating the distance between the first signal receiving device and the second signal receiving device comprises:
controlling the decorative material gripping device to grip the decorative material to be paved and then moving to any pre-paving position, so that the linear signals corresponding to the pre-paving position are respectively aligned with the edge of the decorative material to be paved gripped by the decorative material gripping device;
after the decorative material grabbing device is controlled to rotate by a preset angle, a fifth linear signal is received through the first signal receiving device and the second signal receiving device after rotation;
acquiring a third position deviation of the fifth linear signal received by the first signal receiving device and the corresponding standard linear signal;
acquiring a fourth position deviation of the fifth linear signal received by the second signal receiving device and the corresponding standard linear signal;
and calculating the distance between the first signal receiving device and the second signal receiving device according to the third position deviation, the fourth position deviation and a preset angle.
8. The method of claim 1, further comprising:
when each edge of the decoration material to be paved is parallel to the linear signal of the preset signal grid, acquiring the distance between the linear signal and the corresponding standard linear signal;
and controlling the decorative material grabbing device to drive the decorative material to be paved to move in parallel according to the distance until all edges of the decorative material to be paved are aligned with the linear signals of the preset signal grids.
9. The method of claim 1, further comprising:
when the decorative material grabbing device is controlled to grab the current decorative material to be paved, a grabbing error is determined according to a preset standard position relation between the decorative material grabbing device and the grabbed decorative material to be paved and a position relation between the current decorative material to be paved and the decorative material grabbing device;
and adjusting the relative position of the current decorative material to be paved and the decorative material grabbing device according to the grabbing error.
10. A position adjustment device, comprising:
the linear signal acquisition module is used for controlling the decorative material grabbing device to grab the decorative material to be paved, acquiring linear signals corresponding to the pre-paving position of the decorative material in a preset signal grid based on at least two signal receiving devices, and acquiring position deviation between the linear signals respectively received by the at least two signal receiving devices and corresponding standard signals, wherein the preset signal grid is formed in a preset distribution state based on a preset number of signal transmitting devices;
and the position deviation determining module is used for controlling the decorative material grabbing device to drive the decorative material to be paved to move according to the position deviations respectively determined by the at least two signal receiving devices so as to adjust each edge of the decorative material to be paved to be parallel to the linear signal of the preset signal grid.
11. A position adjustment apparatus, characterized by comprising:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the position adjustment method of any one of claims 1-9.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the position adjustment method according to any one of claims 1 to 9.
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