CN115110732A - Floor installation device, equipment and method - Google Patents
Floor installation device, equipment and method Download PDFInfo
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- CN115110732A CN115110732A CN202110285810.6A CN202110285810A CN115110732A CN 115110732 A CN115110732 A CN 115110732A CN 202110285810 A CN202110285810 A CN 202110285810A CN 115110732 A CN115110732 A CN 115110732A
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- floor
- installation
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/22—Implements for finishing work on buildings for laying flooring of single elements, e.g. flooring cramps ; flexible webs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- Structural Engineering (AREA)
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Abstract
The embodiment of the invention discloses a floor mounting device, equipment and a method. The floor mounting device includes: base, ranging mechanism, floor installation mechanism, actuating mechanism and control mechanism, control mechanism control the actuating mechanism drive ranging mechanism treats the installation area translation to the floor from the floor installation area along predetermineeing the direction ranging mechanism transmits the range finding signal of perpendicular to installed floor side to the floor installation area, follows then according to feedback signal that ranging mechanism received confirms the border position in floor installation area, control at last floor installation mechanism will treat that the installation floor is installed extremely the border position in floor installation area. The embodiment of the invention solves the problem of complex algorithm of the existing floor installation technology, improves the installation efficiency of the floor and reduces the equipment cost for floor installation.
Description
Technical Field
The embodiment of the invention relates to the technical field of constructional engineering, in particular to a floor mounting device, equipment and a floor mounting method.
Background
The existing floor installation robot guiding method for the installation position comprises the steps of firstly planning a path and avoiding obstacles by means of a navigation module, and then distinguishing a boundary edge of an uninstalled area and an installed area in a visual field by means of a vision system so as to determine a composite installation position.
However, the prior art method needs to identify all objects in the scene, and the algorithm is relatively complex and takes a long time to identify. Cameras in the vision system need to be calibrated before use, operation steps are complex, and high-resolution industrial cameras need to be selected to obtain good measurement accuracy, so that high equipment cost is needed for building installation.
Disclosure of Invention
The embodiment of the invention provides a floor mounting device, equipment and a method, which aim to improve the mounting efficiency of a floor and reduce the equipment cost for floor mounting.
In a first aspect, an embodiment of the present invention provides a floor mounting device, including:
a base;
the distance measuring mechanism is arranged on the base and is used for transmitting a distance measuring signal and receiving a feedback signal;
a floor mounting mechanism mounted on the base for performing floor mounting operations;
the driving mechanism can drive the base to do translational motion;
control mechanism, with ranging mechanism, actuating mechanism and floor installation mechanism electricity are connected, control mechanism control the actuating mechanism drive ranging mechanism treats the installation region translation to the floor from the floor installation region along predetermineeing the direction ranging mechanism, and control ranging mechanism launches the range finding signal of perpendicular to installed floor side to the floor installation region, follows then according to feedback signal that ranging mechanism received confirms the border position in the floor installation region, control at last floor installation mechanism will treat that the installation floor is installed extremely the border position in floor installation region.
In a second aspect, an embodiment of the present invention further provides a floor installation apparatus, including: the floor mounting device, the chassis and the frame are arranged on the chassis, and the floor mounting device is arranged on the frame.
In a third aspect, an embodiment of the present invention further provides a floor installation method, where the method includes:
the control driving mechanism drives the base to drive the floor mounting mechanism to grab the floor to be mounted;
controlling the driving mechanism to drive the base to drive the ranging mechanism to translate from the installed area of the floor to the area to be installed of the floor along a preset direction, and simultaneously controlling the ranging mechanism to transmit a ranging signal vertical to the side face of the installed floor to the installed area of the floor;
acquiring a feedback signal sent by a ranging mechanism;
and determining the edge position of the floor installation area according to the feedback signal, and controlling the floor installation mechanism to install the floor to be installed to the edge position of the floor installation area.
According to the embodiment of the invention, the distance measuring mechanism is arranged on the floor mounting device, the distance measuring mechanism is controlled to transmit the distance measuring signal vertical to the side surface of the mounted floor to the mounted area of the floor, the edge position of the mounted area of the floor is determined according to the feedback signal received by the distance measuring mechanism, and the floor mounting mechanism is controlled to mount the floor to be mounted to the edge position of the mounted area of the floor, so that the problem of complex algorithm of the existing mounting technology is solved, the mounting efficiency of the floor is improved, and the equipment cost of floor mounting is reduced.
Drawings
Fig. 1 is a schematic structural view of a floor installation device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an edge line position according to an embodiment of the present invention;
FIG. 3 is a schematic view illustrating a translation process of a floor mounting device according to a second embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a floor mounting mechanism according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of a specific example of a floor installation device according to a third embodiment of the present invention;
fig. 6 is a flowchart of a floor installation method according to a fourth embodiment of the present invention;
fig. 7 is a flowchart of a specific example of a floor installation method according to a fourth embodiment of the present invention.
Reference numerals:
10. a base;
20. a distance measuring mechanism; 21. a first ranging sensor; 22. a second ranging sensor;
30. a floor mounting mechanism; 31. a suction cup grabbing component; 32. mounting a plate; 33. a short edge knocking component; 34. the long edge strikes the subassembly.
Detailed Description
In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings. 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 but not all of the elements associated with the present invention are shown in the drawings.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and encompass, for example, both fixed and removable connections unless otherwise explicitly stated or limited; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
Example one
Fig. 1 is a schematic structural diagram of a floor installation device according to an embodiment of the present invention, and this embodiment is applicable to a case where a floor is installed by an installation robot, and in particular, to a case where a floor is installed by an installation robot.
The floor mounting device includes: a base 10; the distance measuring mechanism 20, the distance measuring mechanism 10 is installed on the base 10, the distance measuring mechanism 20 is used for transmitting the distance measuring signal and receiving the feedback signal; a floor mounting mechanism 30, the floor mounting mechanism 30 being mounted on the base 10 for performing floor mounting operations; a driving mechanism capable of driving the base 10 to make a translational movement (not shown in fig. 1); the control mechanism is electrically connected with the ranging mechanism 20, the driving mechanism and the floor mounting mechanism 30, controls the driving mechanism to drive the ranging mechanism 20 to translate from the floor mounting area to the floor mounting area along the preset direction, controls the ranging mechanism 20 to transmit ranging signals perpendicular to the side face of the mounted floor to the floor mounting area, determines the edge position of the floor mounting area according to feedback signals received by the ranging mechanism 20, and finally controls the floor mounting mechanism 30 to mount the floor to be mounted to the edge position of the floor mounting area.
In one embodiment, the type of range finding mechanism 20 may optionally include any one of an ultrasonic range finding mechanism, a laser range finding mechanism, an infrared range finding mechanism, and a radar range finding mechanism. As an example, the ranging mechanism 20 may send a ranging signal to the ranging object to the ranging mechanism 20, and determine the distance between the ranging mechanism 20 and the ranging object according to the time when the feedback signal is received and the transmission speed of the ranging signal. Specifically, the distance measuring signal may be ultrasonic wave, laser, infrared ray or electromagnetic wave.
In one embodiment, optionally, the distance measuring mechanism 20 includes two first distance measuring sensors 21 and one second distance measuring sensor 22, and accordingly, the control mechanism determines a first edge line position of the floor installed area according to a position where a feedback signal received by the two first distance measuring sensors 21 jumps during the translation of the distance measuring mechanism 20 along the first preset direction, and determines a second edge line position of the floor installed area according to the position where the feedback signal received by the second distance measuring sensor 22 jumps and the first edge line position during the translation of the distance measuring mechanism 20 along the second preset direction, wherein the first preset direction is perpendicular to the second preset direction.
Specifically, when the distance measuring mechanism 20 translates along the first preset direction or the second preset direction, the distance measuring mechanism translates from the installed area of the floor to the area to be installed of the floor. Illustratively, after the distance measuring mechanism 20 is translated from the floor-mounted area to the floor-ready-to-mount area along the first predetermined direction, the distance measuring mechanism 20 is returned to the floor-mounted area and translated from the floor-mounted area to the floor-ready-to-mount area along the second predetermined direction.
For example, the first preset direction may be a long side direction or a short side direction of the floor to be installed, and correspondingly, the second preset direction may be a short side direction or a long side direction of the floor to be installed.
Referring to fig. 1, in the present embodiment, optionally, each first distance measuring sensor 21 is disposed at the long side of the base 10, and the second distance measuring sensor 22 is disposed at the short side of the base 10. Correspondingly, the first preset direction is the short side direction of the floor to be installed, and the second preset direction is the long side direction of the floor to be installed.
Since there is a difference in height between the floor installation area and the floor installation area, the feedback signal received by the distance measuring mechanism 20 jumps when the floor installation setting movement moves from the floor installation area to the floor installation area.
Fig. 2 is a schematic diagram of a position of an edge line according to an embodiment of the present invention. In particular, the dashed floor mounting means in the upper position in the mounted area of fig. 2 is used to indicate the initial position of the floor mounting means before moving in the first predetermined direction. When the floor installation device moves from an installed area of the floor to an area to be installed of the floor, the feedback signals received by the two first ranging sensors 21 jump, and the position where the feedback signals received by the two first ranging sensors 21 jump is connected, so that the position of the first edge line can be obtained. The dashed floor mounting means in the lower position in the mounted area in fig. 2 is used to indicate the initial position of the floor mounting means before the movement in the second predetermined direction. When the floor installation device moves from the floor installation area to the floor installation area, the feedback signal received by the first distance measuring sensor 21 jumps, and the second edge line is determined according to the position of the jump of the feedback signal received by the second distance measuring sensor 22 and the position of the first edge line. Specifically, a straight line perpendicular to the position of the first edge line and passing through a position point where the feedback signal received by the second distance measuring sensor 22 jumps is the position of the second edge line.
According to the technical scheme, the distance measuring mechanism is arranged on the floor mounting device, the distance measuring mechanism is controlled to transmit the distance measuring signal perpendicular to the side face of the mounted floor to the mounted area of the floor, the edge position of the mounted area of the floor is determined according to the feedback signal received by the distance measuring mechanism, the floor mounting mechanism is controlled to mount the floor to be mounted to the edge position of the mounted area of the floor, the problem that an algorithm of the existing mounting technology is complex is solved, the mounting efficiency of the floor is improved, and the equipment cost of floor mounting is reduced.
Example two
The technical scheme of the embodiment is further refined on the basis of the embodiment. In this embodiment, optionally, the controlling mechanism controls the floor mounting mechanism to mount the floor to be mounted to the edge position of the floor mounting area, and the controlling mechanism includes: the control driving mechanism drives the base 10 to drive the floor mounting mechanism 30 to align the long edge of the floor to be mounted with the first edge line position, align the short edge of the floor to be mounted with the second edge line position, and then control the floor mounting mechanism 30 to mount the floor to be mounted in the floor mounting area.
In one embodiment, before controlling the driving mechanism to drive the base 10 to drive the floor mounting mechanism 30 to align the long edge of the floor to be mounted with the first edge line, the method further includes: the control mechanism determines the offset angle of the floor installation device relative to the real edge line position according to the sensor distance between the two first ranging sensors 21 and the jumping distance between the jumping position points corresponding to the two first ranging sensors 21, and controls the driving mechanism to drive the base 10 to rotate so that the floor installation device is parallel to the real edge line position.
Specifically, a rectangular coordinate system is constructed based on a first preset direction and a second preset direction, and the jump distance is used for representing the interval distance between the jump positions corresponding to the two first ranging sensors 21 along the first preset direction. The real edge line position is the edge line position corresponding to the long edge direction of the floor installation device in the installed area and the area to be installed of the floor.
Fig. 3 is a schematic view illustrating a translation process of a floor mounting device according to a second embodiment of the present invention. Specifically, if the position direction of the floor installation device has an angular deviation from the edge line direction between the real floor installed area and the floor to-be-installed area, when the floor installation device is translated along the long side direction or the short side direction thereof, the two first distance measuring sensors 21 on the floor installation device hop at different times, and correspondingly, the two positions where the two hop are also different in coordinates along the long side direction, so that the first edge line position has an angular deviation from the real edge line position. Referring to fig. 3, the first distance measuring sensor 21 on the left side of the floor installation device has a transition time earlier than the transition time of the first distance measuring sensor 21 on the right side. This phenomenon results in an offset angle between the measured first edge line position and the true first edge line position of the floor mounting means.
Referring to fig. 3, "L" in fig. 3 represents a sensor interval between two first ranging sensors 21, "m" represents a jump interval between jump position points corresponding to the two first ranging sensors 21, and the offset angle α satisfies the formula
Specifically, a certain distance difference still exists between the long edge of the floor to be installed on the rotated floor installing device and the real edge line, and the selected rotating center point is different from the real edge line. The distance difference can be calculated from the rotation center of the particular setting.
According to the technical scheme, the offset angle of the floor installation device relative to the position of the real edge line is determined according to the sensor distance between the two first ranging sensors and the hopping distance between the hopping position points corresponding to the two first ranging sensors, the driving mechanism is controlled to drive the base to rotate so that the floor installation device is parallel to the position of the real edge line, the problem that the floor installation device has deviation angles in the translation direction and the direction of the real floor edge line is solved, the installation quality of the floor is improved, and the installation efficiency of the floor is further guaranteed.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a floor mounting mechanism according to a third embodiment of the present invention. The technical scheme of the embodiment is further refined on the basis of the embodiment.
In the present embodiment, the floor mounting mechanism 30 includes: and the sucker grabbing component 31 is used for grabbing the floor to be installed, and the sucker grabbing component 31 is arranged on the base 10 in a floating mode.
In this embodiment, optionally, the floor mounting mechanism 30 further includes: the mounting plate 32, the mounting plate 32 is connected with the base 10 in a sliding mode, and the sucker grabbing component 31 is mounted on the mounting plate 32. The number of the mounting plates 32 is 2, and the number of the suction cup grasping assemblies 31 mounted on each mounting plate 32 is not limited herein. This has the advantage that by slidably adjusting the distance between the mounting plates 32, the objective of mounting floors of different sizes can be achieved.
In this embodiment, optionally, the floor mounting mechanism 30 further includes: a short edge knocking component 33 arranged at one end of the long edge side of the base 10 and used for installing the short edge of the floor to be installed along the long edge direction of the floor to be installed; and a long-edge knocking component 34 arranged on the long-edge side of the base 10 and used for installing the long edge of the floor to be installed along the short-edge direction of the floor to be installed. Wherein, the number of the long-edge knocking assemblies 34 is at least one, and the long-edge knocking assemblies 34 are arranged on the long-edge side of the base 10 at intervals. Referring to FIG. 2, FIG. 2 shows that 3 long-side rapping assemblies 34 are spaced apart on the long side of the base 10.
Specifically, the long-side knocking component 34 includes a hook driving component, a hook portion, a long-side knocking driving component and a long-side knocking portion. The hook part can be clamped with the end part of the long edge of the floor to be installed, and the hook driving assembly drives the hook part to drive the floor to be installed to turn over. The long-edge knocking drive assembly drives the long-edge knocking part to reciprocate along the direction of the short edge of the to-be-installed floor so as to knock the long edge of the to-be-installed floor, the edge turning edge of the to-be-installed floor is knocked, and long-edge installation of the to-be-installed floor is completed.
Wherein, it is specific, the minor face strikes subassembly 33 and includes that the minor face strikes drive assembly and strikes the portion, and the minor face strikes drive assembly drive and strikes the portion along the long limit direction reciprocating motion who treats the installation floor to strike the minor face that treats the installation floor, accomplish the minor face installation of treating the installation floor.
Fig. 5 is a schematic structural diagram of a specific example of a floor installation device according to a third embodiment of the present invention. Specifically, the two distance measuring mechanisms 20 above the floor mounting device in fig. 5 are the first distance measuring sensors 21, the distance measuring mechanism 20 at the right end is the second distance measuring sensor 22, and the floor mounting device shown in fig. 4 is provided with 14 suction cup grabbing assemblies 32 and 4 long edge knocking assemblies 34.
The embodiment of the invention also provides floor installation equipment, which comprises the floor installation device, the chassis and the rack in any embodiment, wherein the rack is arranged on the chassis, and the floor installation device is arranged on the rack. Through the floor installation equipment, the problem of complex algorithm of the existing installation technology is solved, the installation efficiency of the floor is improved, and the equipment cost of floor installation is reduced.
Example four
Fig. 6 is a flowchart of a floor installation method according to a fourth embodiment of the present invention. The present embodiment is applicable to the case of floor installation by an installation robot, and the method may be performed by a control mechanism in the floor installation apparatus, which may be implemented in software and/or hardware, and which may be configured in the floor installation apparatus. The method specifically comprises the following steps:
and S410, controlling the driving mechanism to drive the base to drive the floor mounting mechanism to grab the floor to be mounted.
The floor to be installed is grabbed through the sucker grabbing assembly on the floor installing mechanism.
And S420, controlling the driving mechanism to drive the base to drive the ranging mechanism to translate from the installed area of the floor to the area to be installed of the floor along the preset direction, and controlling the ranging mechanism to transmit ranging signals perpendicular to the side face of the installed floor to the installed area of the floor.
In this embodiment, the preset directions include a first preset direction and a second preset direction perpendicular to each other. Specifically, when the distance measuring mechanism translates along the first preset direction or the second preset direction, the distance measuring mechanism translates from the installed area of the floor to the area to be installed of the floor. For example, after the distance measuring mechanism is translated from the floor installation area to the floor installation waiting area along the first preset direction, the distance measuring mechanism returns to the floor installation area again and is translated from the floor installation waiting area to the floor installation waiting area along the second preset direction.
For example, the first preset direction may be a long side direction or a short side direction of the floor to be installed, and correspondingly, the second preset direction may be a short side direction or a long side direction of the floor to be installed.
And S430, acquiring a feedback signal sent by the ranging mechanism.
For example, the ranging mechanism may send a ranging signal to the ranging object, and determine the distance between the ranging mechanism and the ranging object according to the time when the feedback signal is received and the transmission speed of the ranging signal. Specifically, the distance measuring signal may be ultrasonic wave, laser, infrared ray or electromagnetic wave. The feedback signal may be distance data between the ranging mechanism and the ranging object.
And S440, determining the edge position of the floor installation area according to the feedback signal, and controlling the floor installation mechanism to install the floor to be installed to the edge position of the floor installation area.
Because the installed area of the floor and the area to be installed of the floor have a height difference, when the floor installation setting movement moves from the installed area of the floor to the area to be installed of the floor, a feedback signal received by the distance measuring mechanism jumps.
In this embodiment, optionally, the control mechanism determines, during the translation of the distance measuring mechanism along the first preset direction, a first edge line position of the installed area of the floor according to the position at which the feedback signals received by the two first distance measuring sensors jump, and determines, during the translation of the distance measuring mechanism along the second preset direction, a second edge line position of the installed area of the floor according to the position at which the feedback signals received by the second distance measuring sensor jump and the first edge line position, where the first preset direction is perpendicular to the second preset direction.
Specifically, the position where the feedback signals received by the two first ranging sensors jump is connected to obtain the position of the first edge line. And a straight line which is perpendicular to the position of the first edge line and passes through a position point where the feedback signal received by the second distance measuring sensor jumps is the position of the second edge line.
In this embodiment, optionally, the control mechanism controls the floor mounting mechanism to mount the floor to be mounted to the edge position of the floor-mounted area, and includes: the control driving mechanism drives the base to drive the floor mounting mechanism to align the long edge of the floor to be mounted with the first edge line, align the short edge of the floor to be mounted with the second edge line, and then control the floor mounting mechanism to mount the floor to be mounted in the floor mounting area.
Fig. 7 is a flowchart of a specific example of a floor installation method according to a fourth embodiment of the present invention. Specifically, the robot represents a floor mounting device, and the robot arm represents a floor mounting mechanism on the floor mounting device. The robot navigates to the working position where the floor needs to be installed, the manipulator on the robot grabs the composite floor, and the control mechanism controls the manipulator to move above the installed area, specifically, the manipulator is located in the installed area of the floor. Two first distance measuring sensors at the front end of the manipulator are started, and particularly, the front end of the manipulator represents the long side of the base on the floor mounting device. And monitoring the distance data collected by the first ranging sensor. And controlling the manipulator to move along a first preset direction, recording the position of a position point where the manipulator is located when the distance data jumps, and showing that the manipulator moves to the area to be installed on the floor at the moment. And connecting the two position points into a straight line to obtain the position of the first edge line. And controlling the manipulator to return to the position above the installed area of the floor again, and starting a second distance measuring sensor at the side end of the manipulator, wherein the side end of the manipulator specifically represents the short side of the base on the floor installation device. And monitoring the distance data collected by the second distance measuring sensor. And controlling the manipulator to move along a second preset direction, recording the position of a position point where the manipulator is located when the distance data jumps, and drawing a straight line perpendicular to the position of the first edge line through the position point to obtain the position of the second edge line. And controlling the manipulator to move so that two sides of the composite floor on the manipulator are respectively aligned with the first edge line position and the second edge line position, and executing floor installation operation.
On the basis of the above embodiment, optionally, before the controlling the driving mechanism to drive the base to drive the floor mounting mechanism to align the long edge of the floor to be mounted with the first edge line, the method further includes: the control mechanism determines the offset angle of the floor installation device relative to the position of the real edge line according to the sensor distance between the two first ranging sensors and the jumping distance between the jumping position points corresponding to the two first ranging sensors, and controls the driving mechanism to drive the base to rotate so that the floor installation device is parallel to the position of the real edge line.
Specifically, a rectangular coordinate system is constructed based on a first preset direction and a second preset direction, and the jump distance is used for representing the interval distance between the jump positions corresponding to the two first ranging sensors along the first preset direction. The real edge line position is the edge line position corresponding to the long edge direction of the floor installation device in the installed area and the area to be installed of the floor.
If the position direction of the floor installation device has an angle deviation with the edge line direction between the real floor installation area and the floor installation area to be installed, when the floor installation device translates along the long side direction or the short side direction of the floor installation device, the two first ranging sensors 21 on the floor installation device jump at different moments, correspondingly, the two jumping positions have different coordinates along the long side direction, so that the first edge line position has an angle deviation with the real edge line position.
Referring to fig. 3, the sensor distance between the first two first ranging sensors and the hopping distance between the hopping position points corresponding to the two first ranging sensors are subjected to arc tangent calculation to obtain the offset angle of the floor mounting device relative to the position of the real edge line.
Specifically, a certain distance difference still exists between the long edge of the floor to be installed on the rotated floor installing device and the real edge line position, and the selected rotating center point is different from the rotating center point, and the distance difference is also different from the rotating center point. The distance difference can be calculated from the rotation center of the particular setting.
The floor mounting device has the advantages that the problem that the deviation angle exists between the translation direction of the floor mounting device and the real floor edge line direction is solved, the mounting quality of the floor is improved, and the mounting efficiency of the floor is further guaranteed.
According to the technical scheme, the distance measuring mechanism is arranged on the floor mounting device, the distance measuring mechanism is controlled to transmit the distance measuring signal perpendicular to the side face of the mounted floor to the mounted area of the floor, the edge position of the mounted area of the floor is determined according to the feedback signal received by the distance measuring mechanism, the floor mounting mechanism is controlled to mount the floor to be mounted to the edge position of the mounted area of the floor, the problem that an algorithm of the existing mounting technology is complex is solved, the mounting efficiency of the floor is improved, and the equipment cost of floor mounting is reduced.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a method for controlling a floor mounted device, the method including:
the control driving mechanism drives the base to drive the floor mounting mechanism to grab the floor to be mounted;
controlling a driving mechanism to drive a base to drive a ranging mechanism to translate from an installed area of a floor to an area to be installed of the floor along a preset direction, and controlling the ranging mechanism to transmit a ranging signal vertical to the side face of the installed floor to the installed area of the floor;
acquiring a feedback signal sent by a ranging mechanism;
and determining the edge position of the installed area of the floor according to the feedback signal, and controlling the floor installation mechanism to install the floor to be installed to the edge position of the installed area of the floor.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the above method operations, and may also perform related operations in the control method of the floor mounting apparatus provided by any embodiments 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. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become 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 (10)
1. A floor mounting apparatus, comprising:
a base;
the distance measuring mechanism is arranged on the base and is used for transmitting a distance measuring signal and receiving a feedback signal;
a floor mounting mechanism mounted on the base for performing floor mounting operations;
the driving mechanism can drive the base to do translational motion;
control mechanism, with ranging mechanism, actuating mechanism and floor installation mechanism electricity are connected, control mechanism control the actuating mechanism drive ranging mechanism treats the installation region translation to the floor from the floor installation region along predetermineeing the direction ranging mechanism, and control ranging mechanism launches the range finding signal of perpendicular to installed floor side to the floor installation region, follows then according to feedback signal that ranging mechanism received confirms the border position in the floor installation region, control at last floor installation mechanism will treat that the installation floor is installed extremely the border position in floor installation region.
2. The apparatus of claim 1, wherein the distance measuring mechanism comprises two first distance measuring sensors and one second distance measuring sensor, and the control mechanism determines a first edge line position of the floor installation area according to a position at which a feedback signal received by the two first distance measuring sensors jumps during translation of the distance measuring mechanism in a first predetermined direction, and determines a second edge line position of the floor installation area according to a position at which a feedback signal received by the second distance measuring sensor jumps and the first edge line position during translation of the distance measuring mechanism in a second predetermined direction, wherein the first predetermined direction is perpendicular to the second predetermined direction.
3. The apparatus of claim 2, wherein each of the first ranging sensors is disposed on a long side of the base, and the second ranging sensor is disposed on a short side of the base.
4. The apparatus of claim 3, wherein the control mechanism controls the floor mounting mechanism to mount the floor to be mounted to the edge position of the floor-mounted area, comprising:
control actuating mechanism drive the base drives floor installation mechanism will treat the long limit of installation floor and first edge line position alignment, will treat the minor face and the second edge line position alignment of installation floor, then control floor installation mechanism will treat the installation floor and pack into the floor installation region.
5. The apparatus as claimed in claim 4, wherein before controlling the driving mechanism to drive the base to drive the floor mounting mechanism to align the long edge of the floor to be mounted with the first edge line, the apparatus further comprises:
the control mechanism determines the offset angle of the floor installation device relative to the position of a real edge line according to the sensor distance between the two first ranging sensors and the jumping distance between jumping position points corresponding to the two first ranging sensors, and controls the driving mechanism to drive the base to rotate so that the floor installation device is parallel to the position of the real edge line.
6. The apparatus of claim 1, wherein the floor mounting mechanism comprises:
the sucking disc snatchs the subassembly for snatch the floor of waiting to install, the sucking disc snatchs the subassembly and float installation on the base.
7. The apparatus of claim 6, wherein the floor mounting mechanism further comprises:
the short edge knocking component is arranged at one end of the long edge side of the base and used for installing the short edge of the floor to be installed along the long edge direction of the floor to be installed;
and the long-edge knocking component is arranged on the long edge side of the base and used for installing along the short edge direction of the to-be-installed floor to be installed on the long edge of the to-be-installed floor.
8. The apparatus of claim 1, wherein the type of the ranging mechanism comprises any one of an ultrasonic ranging mechanism, a laser ranging mechanism, an infrared ranging mechanism, and a radar ranging mechanism.
9. A floor mounting apparatus, comprising: floor mounting arrangement according to any of the claims 1-8, a chassis and a frame, said frame being arranged on said chassis, said floor mounting arrangement being arranged on said frame.
10. A method of installing a floor, comprising:
the control driving mechanism drives the base to drive the floor mounting mechanism to grab the floor to be mounted;
controlling the driving mechanism to drive the base to drive the ranging mechanism to translate from the installed area of the floor to the area to be installed of the floor along a preset direction, and simultaneously controlling the ranging mechanism to transmit a ranging signal vertical to the side face of the installed floor to the installed area of the floor;
acquiring a feedback signal sent by a distance measuring mechanism;
and determining the edge position of the floor installation area according to the feedback signal, and controlling the floor installation mechanism to install the floor to be installed to the edge position of the floor installation area.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110285810.6A CN115110732B (en) | 2021-03-17 | 2021-03-17 | Floor installation device, equipment and method |
| PCT/CN2022/080123 WO2022194019A1 (en) | 2021-03-17 | 2022-03-10 | Flooring installation apparatus, device, method, and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110285810.6A CN115110732B (en) | 2021-03-17 | 2021-03-17 | Floor installation device, equipment and method |
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| Publication Number | Publication Date |
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| CN115110732A true CN115110732A (en) | 2022-09-27 |
| CN115110732B CN115110732B (en) | 2023-09-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110285810.6A Active CN115110732B (en) | 2021-03-17 | 2021-03-17 | Floor installation device, equipment and method |
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| Country | Link |
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| CN (1) | CN115110732B (en) |
| WO (1) | WO2022194019A1 (en) |
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| Publication number | Publication date |
|---|---|
| WO2022194019A1 (en) | 2022-09-22 |
| CN115110732B (en) | 2023-09-05 |
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