CN116690553A

CN116690553A - Tile laying control method, robot and storage medium

Info

Publication number: CN116690553A
Application number: CN202211166344.0A
Authority: CN
Inventors: 罗健聪; 赵云峰; 黄兆晶; 朱平; 覃忠添; 张少东; 吴伟兵; 于佳
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2022-09-23
Filing date: 2022-09-23
Publication date: 2023-09-05

Abstract

The invention relates to the technical field of automatic control of robots, and discloses a ceramic tile laying control method, a robot and a storage medium. The method comprises the following steps: the mechanical arm is controlled to grasp the ceramic tile to be paved under the working state of the robot; controlling the mechanical arm to move to a preset brick placing position, acquiring pose data of the to-be-paved ceramic tile relative to a paving reference surface below the mechanical arm, and calculating a first height and an angle of the to-be-paved ceramic tile and a ceramic tile glue plane and a horizontal distance between the to-be-paved ceramic tile and a reference ceramic tile based on the pose data; controlling the mechanical arm to level the tile to be paved based on the first height, the angle and the horizontal distance; the mechanical arm is controlled to perform multistage progressive visual movement, the tile to be paved is aligned with the reference tile and is fully attached to the tile glue on the tile glue plane, and the multistage progressive visual movement comprises at least three descending alignment operations. The problem of current robot automatic control technical field, the construction efficiency that the ceramic tile was laid is low is solved.

Description

Tile laying control method, robot and storage medium

Technical Field

The invention relates to the technical field of robot control, in particular to a ceramic tile laying control method, a robot and a storage medium.

Background

In the existing building industry, a ground tile adopts manual paving construction operation, a worker paves tile glue on a paving ground according to experience, then scrapes the tile glue surface layer into a layer of toothed surface by using tooth-shaped scraping teeth, then places the tile on the toothed surface, presses down and kneads the tile to enable the tile glue to be attached so as to avoid hollowing, adjusts the position of the tile to align with a front tile, adjusts the flatness of the tile surface, the height difference of the front tile and the rear tile and the size of a brick joint. After the tile is paved, clear acceptance criteria are provided for the empty drum rate, the flatness of the tile surface, the height difference of front and rear tiles and the size of the brick joints, so that the technical level of a tiling worker is greatly tested.

The building site environment is poor, tile paving is a heavy and complicated physical activity and technical activity, the artificial paving efficiency is low, the average age of paving workers is higher and higher, less young people are engaged in the paving work, the tile paving tile workers are not connected with each other, and robots replace manual work or trend. Therefore, how to solve the technical field of automatic control of the existing robot, and improving the construction efficiency of tile laying becomes a technical problem to be solved by those skilled in the art.

Disclosure of Invention

The invention mainly aims to solve the problem of low construction efficiency of the existing tile paving method.

The first aspect of the present invention provides a tile laying control method, the robot including a robot body and a robot arm, the tile laying control method comprising: controlling the mechanical arm to grasp the ceramic tile to be paved when the robot is in an operation state; controlling the mechanical arm to move to a preset brick placing position, acquiring pose data of the to-be-paved ceramic tile and a paving reference surface below the to-be-paved ceramic tile, and calculating a first height and an angle of the to-be-paved ceramic tile and a ceramic tile glue plane and a horizontal distance between the to-be-paved ceramic tile and a reference ceramic tile based on the pose data; controlling the mechanical arm to level the tile to be tiled based on the first height, the angle and the horizontal spacing; the mechanical arm is controlled to perform multistage progressive visual movement, the tile to be paved is aligned with the reference tile and is fully attached to the tile glue on the tile glue plane, and the multistage progressive visual movement comprises at least three descending alignment operations.

In a first implementation manner of the first aspect of the present invention, the controlling the mechanical arm to move to a preset tile placing position, and obtaining pose data of the tile to be tiled and a tiling reference surface below the tile to be tiled, and calculating a first height, an angle and a horizontal distance between the tile to be tiled and a tile glue plane based on the pose data, includes: controlling the mechanical arm to move to a preset brick placing position according to a preset moving path or action; taking a paving reference surface below the brick placing position as a reference, and carrying out three-dimensional position positioning on the to-be-paved ceramic brick to obtain corresponding pose data; and carrying out three-dimensional analysis on the pose data to obtain a first height and an angle of the tile to be paved and a tile glue plane and a horizontal distance between the tile to be paved and a reference tile.

In a second implementation of the first aspect of the present invention, the multi-segment progressive visual movement is a three-segment progressive visual movement; the control the arm carries out multistage progressive vision and removes, will wait to lay the ceramic tile and consult the ceramic tile alignment and with the ceramic tile is glued on the plane and is fully laminated, include: controlling the mechanical arm to horizontally move towards the direction close to the reference ceramic tile by utilizing horizontal dynamic visual guidance, adjusting the horizontal distance to be within a first preset width range, and keeping the height from the ceramic tile glue plane to be the first height; the mechanical arm is controlled to descend to a second preset height along the vertical direction, and the horizontal distance is kept within the first preset width range; after reaching the second preset height, controlling the mechanical arm to move downwards in the direction close to the reference tile, and controlling the vibration leveling mechanism on the mechanical arm to fully attach the tile to be paved with the tile glue when the horizontal distance is the standard tile joint width and the tile to be paved is attached to the tile glue on the tile glue plane.

In a third implementation manner of the first aspect of the present invention, after reaching the second preset height, the controlling the mechanical arm to move downward in a direction approaching to the reference tile, and when the horizontal distance is a standard tile gap width and the tile to be paved is attached to the tile glue on the tile glue plane, controlling a leveling mechanism on the mechanical arm to fully attach the tile to be paved to the tile glue, includes: after reaching the second preset height, controlling the mechanical arm to move the tiles to be paved along the vertical direction and the horizontal direction at the same time, and calculating a first difference value between the height after vertical descent and the second preset height and a second difference value between the width of the brick joint after horizontal movement and the first preset width in real time; according to the first difference value and the second difference value, the movement of the mechanical arm in the vertical direction and the horizontal direction is adjusted, and the tile to be paved is moved to a target position; when the target position is that the horizontal distance is equal to the width of a standard brick joint and the tile to be paved is attached to the tile glue on the tile glue plane, the vibration mechanism on the mechanical arm is controlled to apply acting force to the tile to be paved, and the tile to be paved is fully attached to the tile glue.

In a fourth implementation manner of the first aspect of the present invention, the adjusting the movement of the mechanical arm in the vertical direction and the horizontal direction according to the first difference value and the second difference value, to move the tile to be tiled to a target position includes: and respectively adjusting the moving speed of the mechanical arm in the vertical direction and the horizontal direction according to the first difference value and the second difference value, and moving the tile to be paved to the position corresponding to the width of the standard brick joint and simultaneously attaching the tile adhesive on the tile adhesive plane.

In a fifth implementation manner of the first aspect of the present invention, the adjusting the movement of the mechanical arm in the vertical direction and the horizontal direction according to the first difference value and the second difference value, to move the tile to be tiled to a target position includes: and respectively adjusting the moving speed of the mechanical arm in the vertical direction and the horizontal direction according to the first difference value and the second difference value, and controlling the tile glue to be attached to the tile glue plane after the tile to be attached is controlled to move to the position corresponding to the standard brick joint width.

In a sixth implementation manner of the first aspect of the present invention, the controlling the vibration mechanism on the mechanical arm to apply an acting force to the tile to be tiled, and fully attaching the tile to be tiled to the tile glue includes: controlling a tail end mechanism of the mechanical arm to apply a first vertical downward acting force to the ceramic tile to be tiled; judging whether the first acting force is in a preset value range or not; if so, applying a second acting force in the horizontal direction to the tile to be paved through a vibration mechanism on the mechanical arm, and fully attaching the tile to be paved to the tile glue.

In a seventh implementation manner of the first aspect of the present invention, the applying, by the vibration leveling mechanism on the mechanical arm, a second acting force in a horizontal direction to the tile to be tiled, and fully attaching the tile to be tiled to the tile glue, includes: detecting whether the upper surface of the ceramic tile to be paved and the upper surface of the reference ceramic tile are on the same horizontal plane; if not, applying auxiliary acting force to the tiles to be paved through a vibrating mechanism on the mechanical arm, wherein the direction of the auxiliary acting force is consistent with that of the first acting force; if yes, a second acting force in the horizontal direction is applied to the tile to be paved through a vibrating mechanism on the mechanical arm, and the tile to be paved is rubbed under the action of the second acting force, so that the lower surface of the tile to be paved is fully attached to the tile glue.

In an eighth implementation manner of the first aspect of the present invention, the controlling the mechanical arm to level the tile to be tiled based on the first height, the angle and the horizontal spacing includes: controlling the mechanical arm to adjust the tile to be tiled to be parallel to the tile glue plane based on the first height and the angle; judging whether the horizontal distance is in a preset numerical range or not; if not, the mechanical arm is controlled to move the tiles to be paved towards the reference tiles in the horizontal direction until the horizontal distance is within a preset numerical range.

In a ninth implementation manner of the first aspect of the present invention, when the robot is in a working state, the controlling the mechanical arm to grasp the tile to be tiled includes: when the robot is in an operation state, controlling the mechanical arm to move to a preset brick grabbing position and to move to a brick surface of a ceramic tile to be paved, and closely contacting a sucker on the mechanical arm with the brick surface; controlling the operation of a vacuum pump, and detecting whether the air pressure of the vacuum pump reaches a preset threshold value; if yes, stopping the vacuum pump operation, picking up the tile to be paved, and detecting whether the real-time air pressure of the vacuum pump reaches a preset threshold value in real time; and controlling the vacuum pump to operate when the real-time air pressure does not reach a preset threshold value, and stopping until the real-time air pressure reaches the preset threshold value.

In a tenth implementation manner of the first aspect of the present invention, after the controlling the mechanical arm to move to a preset tile grabbing position and to move to a tile surface on which tiles are to be tiled, before the bringing the suction cup on the mechanical arm into close contact with the tile surface, the method further includes: acquiring an included angle between a tile to be paved and a horizontal plane; based on the included angle, the angle between the tail end plane of the mechanical arm and the horizontal plane is adjusted to be parallel to the tile to be paved, and the mechanical arm is moved to enable the sucker to be consistent with the center position of the tile to be paved.

In an eleventh implementation manner of the first aspect of the present invention, after controlling the mechanical arm to grasp the tile to be tiled in a working state of the robot, the method further includes: acquiring the position of the ceramic tile paved in front of the robot through a camera, and calculating the position coordinate of the ceramic tile to be paved based on the position of the ceramic tile; and controlling the mechanical arm to move to the position coordinates, and adjusting the abutting surface in the ceramic tile to be paved to be opposite to the plane where the reference ceramic tile is located.

A second aspect of the present invention provides a robot comprising: including robot body, arm, and controlling means, wherein, controlling means includes: the grabbing module is used for controlling the mechanical arm to grab the ceramic tile to be paved when the robot is in an operation state; the computing module is used for controlling the mechanical arm to move to a preset brick placing position, acquiring pose data of the to-be-paved ceramic tile and a paving reference surface below the to-be-paved ceramic tile, and computing a first height and an angle of the to-be-paved ceramic tile and a ceramic tile glue plane and a horizontal distance between the to-be-paved ceramic tile and a reference ceramic tile based on the pose data; the leveling module is used for controlling the mechanical arm to level the tile to be paved based on the first height, the angle and the horizontal interval; the control module is used for controlling the mechanical arm to perform multistage progressive visual movement, aligning the tile to be paved with the reference tile and fully attaching the tile glue on the tile glue plane, wherein the multistage progressive visual movement comprises at least three descending alignment operations.

In a first implementation manner of the second aspect of the present invention, the computing module is specifically configured to: controlling the mechanical arm to move to a preset brick placing position according to a preset moving path or action; taking a paving reference surface below the brick placing position as a reference, and carrying out three-dimensional position positioning on the to-be-paved ceramic brick to obtain corresponding pose data; and carrying out three-dimensional analysis on the pose data to obtain a first height and an angle of the tile to be paved and a tile glue plane and a horizontal distance between the tile to be paved and a reference tile.

In a second implementation manner of the second aspect of the present invention, the control module includes: the horizontal moving unit is used for controlling the mechanical arm to horizontally move towards the direction close to the reference ceramic tile by utilizing horizontal dynamic visual guidance when the multi-section progressive visual movement is three-section progressive visual movement, adjusting the horizontal distance to be within a first preset width range and keeping the height from the ceramic tile glue plane to be the first height; the descending moving unit is used for controlling the mechanical arm to descend to a second preset height along the vertical direction and keeping the horizontal distance within the first preset width range; and the laminating control unit is used for controlling the mechanical arm to downwards move towards the direction close to the reference tile after reaching the second preset height, and controlling the vibration leveling mechanism on the mechanical arm to fully laminate the tile to be laminated with the tile adhesive when the horizontal distance is the width of a standard tile joint and the tile to be laminated is adhered with the tile adhesive on the tile adhesive plane.

In a third implementation manner of the second aspect of the present invention, the attachment control unit is specifically configured to: after reaching the second preset height, controlling the mechanical arm to move the tiles to be paved along the vertical direction and the horizontal direction at the same time, and calculating a first difference value between the height after vertical descent and the second preset height and a second difference value between the width of the brick joint after horizontal movement and the first preset width in real time; according to the first difference value and the second difference value, the movement of the mechanical arm in the vertical direction and the horizontal direction is adjusted, and the tile to be paved is moved to a target position; when the target position is that the horizontal distance is equal to the width of a standard brick joint and the tile to be paved is attached to the tile glue on the tile glue plane, the vibration mechanism on the mechanical arm is controlled to apply acting force to the tile to be paved, and the tile to be paved is fully attached to the tile glue.

In a fourth implementation manner of the second aspect of the present invention, the attachment control unit is specifically configured to: and respectively adjusting the moving speed of the mechanical arm in the vertical direction and the horizontal direction according to the first difference value and the second difference value, and moving the tile to be paved to the position corresponding to the width of the standard brick joint and simultaneously attaching the tile adhesive on the tile adhesive plane.

In a fifth implementation manner of the second aspect of the present invention, the attachment control unit is specifically configured to: and respectively adjusting the moving speed of the mechanical arm in the vertical direction and the horizontal direction according to the first difference value and the second difference value, and controlling the tile glue to be attached to the tile glue plane after the tile to be attached is controlled to move to the position corresponding to the standard brick joint width.

In a sixth implementation manner of the second aspect of the present invention, the attachment control unit is specifically configured to: controlling a tail end mechanism of the mechanical arm to apply a first vertical downward acting force to the ceramic tile to be tiled;

judging whether the first acting force is in a preset value range or not; if so, applying a second acting force in the horizontal direction to the tile to be paved through a vibration mechanism on the mechanical arm, and fully attaching the tile to be paved to the tile glue.

In a seventh implementation manner of the second aspect of the present invention, the attachment control unit is specifically configured to: detecting whether the upper surface of the ceramic tile to be paved and the upper surface of the reference ceramic tile are on the same horizontal plane; if not, applying auxiliary acting force to the tiles to be paved through a vibrating mechanism on the mechanical arm, wherein the direction of the auxiliary acting force is consistent with that of the first acting force; if yes, a second acting force in the horizontal direction is applied to the tile to be paved through a vibrating mechanism on the mechanical arm, and the tile to be paved is rubbed under the action of the second acting force, so that the lower surface of the tile to be paved is fully attached to the tile glue.

In an eighth implementation manner of the second aspect of the present invention, the leveling module includes: the first leveling unit is used for controlling the mechanical arm to adjust the tile to be tiled to be parallel to the tile glue plane based on the first height and the angle; the judging unit is used for judging whether the horizontal distance is in a preset numerical range or not; and the second leveling unit is used for controlling the mechanical arm to move the tile to be paved towards the reference tile in the horizontal direction until the horizontal distance is within the preset numerical range when the horizontal distance is not within the preset numerical range.

In a ninth implementation manner of the second aspect of the present invention, the grabbing module is specifically configured to: when the robot is in an operation state, controlling the mechanical arm to move to a preset brick grabbing position, moving to a brick surface of a ceramic tile to be paved, and tightly contacting a sucker on the mechanical arm with the brick surface; controlling the operation of a vacuum pump, and detecting whether the air pressure of the vacuum pump reaches a preset threshold value; if yes, stopping the vacuum pump operation, picking up the tile to be paved, and detecting whether the real-time air pressure of the vacuum pump reaches a preset threshold value in real time; and controlling the vacuum pump to operate when the real-time air pressure does not reach a preset threshold value, and stopping until the real-time air pressure reaches the preset threshold value.

In a tenth implementation manner of the second aspect of the present invention, the grabbing module is specifically further configured to: acquiring an included angle between a tile to be paved and a horizontal plane; based on the included angle, the angle between the tail end plane of the mechanical arm and the horizontal plane is adjusted to be parallel to the tile to be paved, and the mechanical arm is moved to enable the sucker to be consistent with the center position of the tile to be paved.

In an eleventh implementation manner of the second aspect of the present invention, the grabbing module is specifically further configured to: acquiring the position of the ceramic tile paved in front of the robot through a camera, and calculating the position coordinate of the ceramic tile to be paved based on the position of the ceramic tile; and controlling the mechanical arm to move to the position coordinates, and adjusting the abutting surface in the ceramic tile to be paved to be opposite to the plane where the reference ceramic tile is located.

A third aspect of the present invention provides a robot comprising: a memory and at least one processor, the memory having instructions stored therein, the memory and the at least one processor being interconnected by a line;

the at least one processor invokes the instructions in the memory to cause the robot to perform the steps of the tile laying control method described above.

A fourth aspect of the invention provides a computer readable storage medium having instructions stored therein which, when run on a computer, cause the computer to perform the steps of the tile laying control method described above.

According to the technical scheme provided by the invention, when the robot is in an operation state, the mechanical arm is controlled to grasp the ceramic tile to be paved; the mechanical arm moves the mechanical arm to a preset brick placing position according to a preset action or moving path, and the method specifically comprises the following steps: firstly, controlling horizontal movement and aligning brick joints to a first preset width range and a first height through horizontal dynamic visual guidance, wherein the distance of a mobile mechanical arm is longest, and information such as visual information is not needed to serve as movement control information, so that the movement is rapid; secondly, the mechanical arm is ensured to move downwards to a second preset height along the vertical direction all the time, and is in a first preset width range at the moment, wherein the moving distance of the mechanical arm is relatively longer; finally, in the horizontal direction, the tile seam is moved and adjusted to the target width, and meanwhile, the tile is moved and adjusted to the target height in the vertical direction, wherein the transverse or vertical movement amplitude of the mechanical arm is small. According to the invention, the paving robot is controlled to gradually and gradually converge along one direction to move the mechanical arm paving bricks, and the moving control of each stage is simplified and efficient along with the gradual shortening of the moving distance of the mechanical arm, so that the paving of the paving bricks with high precision can be completed at one time, the paving efficiency is greatly improved, and the problems of low construction efficiency of paving the ceramic tiles in the technical field of automatic control of the existing robot are solved.

Drawings

Fig. 1 is a schematic view of a first embodiment of a tile laying control method provided by the present invention;

fig. 2 is a schematic view of a second embodiment of the tile laying control method provided by the present invention;

fig. 3 is a schematic view of a third embodiment of the tile laying control method provided by the present invention;

FIG. 4 is a schematic diagram of the present invention before rough adjustment;

FIG. 5 is a schematic diagram of the visual coarse adjustment according to the present invention;

fig. 6 is a schematic view of the tile to be tiled after being lowered according to the present invention;

FIG. 7 is a schematic diagram of the present invention after visual fine adjustment;

FIG. 8 is a schematic view of a first embodiment of a robot provided by the present invention;

fig. 9 is a schematic view of a second embodiment of a robot provided by the present invention;

fig. 10 is a schematic view of a third embodiment of the robot according to the present invention.

Detailed Description

The embodiment of the invention provides a ceramic tile laying control method, a robot and a storage medium, wherein in the technical scheme of the invention, firstly, a mechanical arm is controlled to grasp a ceramic tile to be laid and pasted in a robot operation state and move to a preset tile placing position; acquiring pose data of the tile to be paved and a paving reference surface below the tile to be paved when the tile to be paved is positioned at a brick placing position, and leveling the tile to be paved based on the pose data; and (3) controlling the mechanical arm to align the ceramic tile to be paved with the ceramic tile glue plane, and fully attaching the ceramic tile to be paved with the ceramic tile glue. The problem of current robot automatic control technical field, the construction efficiency that the ceramic tile was laid is low is solved.

The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.

For ease of understanding, a specific flow of an embodiment of the present invention will be described below with reference to fig. 1, in which a first embodiment of a tile laying control method according to the embodiment of the present invention includes:

101. when the robot is in an operation state, the mechanical arm is controlled to grasp the ceramic tile to be paved;

in this embodiment, the mechanical arm includes a mechanical arm body, an end mechanism, and an acquisition device disposed on the end mechanism, where the acquisition device may be a camera, a video camera, a laser level, a pose sensor, and so on. Under the operation state of the robot, the tail end mechanism of the mechanical arm firstly moves to the upper part of the preset tile warehouse, the tail end plane corresponding to the tail end mechanism of the mechanical arm is parallel to the tile surface of the tile to be paved to be grabbed, and the tail end sucker corresponding to the tail end mechanism of the mechanical arm is positioned at the center of the tile to be grabbed, so that the mechanical arm grabs the tile to be paved.

Specifically, in order to facilitate the mechanical arm to grasp the ceramic tile, a tile warehouse for placing the ceramic tile is generally arranged in an inclined support manner, namely, a certain included angle is formed between a support surface of an inclined support table and a horizontal plane, and the angle can be set between 30-45 degrees, so that the placing position and the angle of the ceramic tile are ensured to be constant, the terminal mechanism of the mechanical arm can be ensured to be fixed when moving to the tile grasping position, the consistency of the moving position of the mechanical arm in the ceramic tile grasping process is ensured, the grasping accuracy is ensured, and the adjustment action in the ceramic tile grasping process is reduced.

Further, when the mechanical arm is controlled to grasp the tile to be paved, the mechanical arm is controlled to move to a preset tile grasping position, then distance data (namely, laser distance sensor data) of the tile relative to the mechanical arm is obtained through the laser distance sensor, the distance between a sucker corresponding to the tail end mechanism of the mechanical arm and a tile surface corresponding to the tile to be grasped is calculated based on the distance data, and the tail end mechanism of the mechanical arm is moved to the position of the tile surface according to the calculated result. Finally, the vacuum pump is started, and bricks are sucked through a sucker on the tail end mechanism of the mechanical arm; judging that the air pressure reaches a preset threshold value through an IO input signal, and closing the vacuum pump after judging that the air pressure reaches the preset threshold value, so that the brick grabbing is successful; after the brick is successfully grabbed, the mechanical arm is controlled to move to the brick placing position, and step 102 is executed.

In practical application, in the process of moving the mechanical arm to the brick placing position, the method further comprises the following steps: whether the air pressure is lower than a preset threshold value or not is detected in real time through the IO input signal, if the air pressure is lower than the preset threshold value, the vacuum pump is turned on again until the air pressure is higher than the preset threshold value, and then the vacuum pump is turned off, so that brick dropping is avoided, and safety is improved.

102. Controlling the mechanical arm to move to a preset brick placing position, acquiring pose data of the to-be-paved ceramic tile relative to a paving reference surface below the mechanical arm, and calculating a first height and an angle of the to-be-paved ceramic tile and a ceramic tile glue plane and a horizontal distance between the to-be-paved ceramic tile and a reference ceramic tile based on the pose data;

in this embodiment, when the paving reference surface is constructed, a paving reference surface is determined by a laser level meter, and the robot performs paving based on the paving reference surface. The reference tile can be the last-time-pasted tile or a preset reference object. The reference tile can be used as a reference for the horizontal spacing of the tiled tiles or for the standard gap width. The paving reference surface can be a tile adhesive plane or a tile adhesive plane.

The control of the movement to the tile placing position is specifically to control the tail end mechanism of the mechanical arm to move to a preset tile placing position with the tile, wherein the tile placing position is specifically a position where the tile surface is basically parallel to the ground and the tile bottom is approximately 30 mm above the tile adhesive.

Specifically, the mechanical arm is controlled to move to a preset brick placing position according to a preset moving path or action; taking a paving reference surface below the brick placing position as a reference, and carrying out three-dimensional position positioning on the to-be-paved ceramic brick to obtain corresponding pose data; and carrying out three-dimensional analysis on the pose data to obtain a first height and an angle of the tile to be paved and a tile glue plane and a horizontal distance between the tile to be paved and a reference tile.

In practical application, the mechanical arm is controlled to move according to a preset moving path or action of the mechanical arm, so that the ceramic tile to be paved can be quickly and stably moved to a preset tile placing position. Further, according to the inclined arrangement of the brick warehouse and the fact that the mechanical arm grabs bricks to a preset brick placing position, the mechanical arm basically moves in one plane/direction, the distance from the mechanical arm to the preset brick placing position is shortened, the rotation swing amplitude of the mechanical arm is reduced, and the moving efficiency and the positioning accuracy are improved.

The angle obtained by analyzing the pose data can be understood as an inclination angle between a camera on the mechanical arm and a horizontal plane, and the inclination angle can be included angles of an XY plane, an XZ plane and a YZ plane in a three-dimensional coordinate system of the ceramic tile to be paved with the camera as an origin.

103. Controlling the mechanical arm to level the tile to be paved based on the first height, the angle and the horizontal distance;

in this embodiment, the leveling process includes two modes, one is to control the mechanical arm to adjust the tile to be tiled to be parallel to the plane of the reference tile or the tile glue according to the first height and the angle, and then control the distance between the bonding surface (lower surface) of the tile to be tiled and the tile glue plane by descending or ascending to be equal to the first height.

The other is based on the first height and the angle, and the mechanical arm is controlled to adjust the tile to be tiled to be parallel to the tile glue plane; judging whether the horizontal distance is in a preset numerical range or not; if not, the mechanical arm is controlled to move the tiles to be paved towards the reference tiles in the horizontal direction until the horizontal distance is within a preset numerical range.

The method is characterized in that the tile seam is aligned by utilizing dynamic visual guidance in the horizontal direction, the height of the tile to be paved from the tile glue plane is controlled to be equal to the first height, and the visual error is relatively large due to the influence of the height difference, so that the setting width of the adjustment of the tile seam is wider than that of a standard tile seam, and the occurrence of covering and pressing of the tile due to the error is prevented.

104. The mechanical arm is controlled to perform multistage progressive visual movement, the tile to be paved is aligned with the reference tile and is fully attached to the tile glue on the tile glue plane, and the multistage progressive visual movement comprises at least three descending alignment operations.

In this embodiment, the multi-segment progressive visual movement is specifically a three-segment progressive visual movement, that is, three adjustments are performed, which includes the following steps:

first, visual coarse adjustment: the brick seams are dynamically and visually guided to be aligned in the horizontal direction, and due to the influence of the height difference, the visual error is relatively large, so that the setting width of the brick seam adjustment is wider than that of a standard brick seam, and the phenomenon that the covering bricks are pressed downwards due to the error is prevented.

Furthermore, when bricks are placed and leveled, visual coarse adjustment can be synchronously performed, and at the moment, pre-judgment is performed, and the leveling levelness of the bricks is within the numerical range of the preset range, so that the synchronous visual coarse adjustment can be started, and the efficiency is further improved.

Secondly, acquiring data of a tile paving laser distance sensor, calculating a descent distance, and descending the tail end mechanism of the mechanical arm to a certain height with tiles according to a calculation result, wherein the height difference between the to-be-paved tile and a reference tile is about 5 millimeters (3 millimeters-8 millimeters), the error of vision is relatively large, and if the error is low, the overflow slurry can occur due to the fact that the tile bottom is tightly attached to the tile adhesive surface in the vision fine adjustment movement, so that the vision judgment is affected.

Finally, visual fine adjustment is carried out, namely, the bricks are dynamically and visually guided to be aligned in the horizontal direction, meanwhile, the tail end mechanism belt bricks are lowered to the height parallel to the brick surface of the front brick, and the set width of the brick joint adjustment is the standard brick joint width.

In this embodiment, if the multi-segment progressive visual movement is a three-segment progressive visual movement, the controlling the mechanical arm to perform the multi-segment progressive visual movement aligns the tile to be tiled with the reference tile and fully fits the tile glue on the tile glue plane, includes: controlling the mechanical arm to horizontally move towards the direction close to the reference ceramic tile by utilizing horizontal dynamic visual guidance, adjusting the horizontal distance to be within a first preset width range, and keeping the height from the ceramic tile glue plane to be the first height; the mechanical arm is controlled to descend to a second preset height along the vertical direction, and the horizontal distance is kept within the first preset width range; after reaching the second preset height, controlling the mechanical arm to move downwards in the direction close to the reference tile, and controlling the vibration leveling mechanism on the mechanical arm to fully attach the tile to be paved with the tile glue when the horizontal distance is the standard tile joint width and the tile to be paved is attached to the tile glue on the tile glue plane.

In practical application, after reaching the second preset height, controlling the mechanical arm to move the tile to be paved along the vertical direction and the horizontal direction at the same time, and calculating a first difference value between the vertical lowered height and the second preset height and a second difference value between the width of the horizontally moved tile gap and the first preset width in real time; according to the first difference value and the second difference value, the movement of the mechanical arm in the vertical direction and the horizontal direction is adjusted, and the tile to be paved is moved to a target position; when the target position is that the horizontal distance is equal to the width of a standard brick joint and the tile to be paved is attached to the tile glue on the tile glue plane, the vibration mechanism on the mechanical arm is controlled to apply acting force to the tile to be paved, and the tile to be paved is fully attached to the tile glue.

The difference value is calculated according to the height before descending and the height target value, the brick joint size and the brick joint size target value, and the difference value is calculated so that the target position is reached after adjustment; furthermore, in order to avoid the slurry overflow phenomenon at the brick joint caused by the transverse movement, the movement of the brick joint direction can be slightly earlier than the height direction to reach the target position.

In this embodiment, in order to ensure that the tile glue overflows when the tile is finally tiled, the tile to be tiled can be controlled to arrive at the target position synchronously or sequentially, which is specifically as follows: and according to the first difference value and the second difference value, adjusting the movement of the mechanical arm in the vertical direction and the horizontal direction to move the tile to be tiled to a target position, wherein the method comprises the following steps: and respectively adjusting the moving speed of the mechanical arm in the vertical direction and the horizontal direction according to the first difference value and the second difference value, and moving the tile to be paved to the position corresponding to the width of the standard brick joint and simultaneously attaching the tile adhesive on the tile adhesive plane.

Or, according to the first difference value and the second difference value, adjusting the movement of the mechanical arm in the vertical direction and the horizontal direction to move the tile to be tiled to a target position, including: and respectively adjusting the moving speed of the mechanical arm in the vertical direction and the horizontal direction according to the first difference value and the second difference value, and controlling the tile glue to be attached to the tile glue plane after the tile to be attached is controlled to move to the position corresponding to the standard brick joint width.

In the embodiment of the invention, the mechanical arm is controlled to grasp the ceramic tile to be paved under the operation state of the robot; the mechanical arm moves the mechanical arm to a preset brick placing position according to a preset action or moving path, and the method specifically comprises the following steps: firstly, controlling horizontal movement and aligning brick joints to a first preset width range and a first height through horizontal dynamic visual guidance, wherein the distance of a mobile mechanical arm is longest, and information such as visual information is not needed to serve as movement control information, so that the movement is rapid; secondly, the mechanical arm is ensured to move downwards to a second preset height along the vertical direction all the time, and is in a first preset width range at the moment, wherein the moving distance of the mechanical arm is relatively longer; finally, in the horizontal direction, the tile seam is moved and adjusted to the target width, and meanwhile, the tile is moved and adjusted to the target height in the vertical direction, wherein the transverse or vertical movement amplitude of the mechanical arm is small. According to the invention, the paving robot is controlled to gradually and gradually converge along one direction to move the mechanical arm paving bricks, and the moving control of each stage is simplified and efficient along with the gradual shortening of the moving distance of the mechanical arm, so that the paving of the paving bricks with high precision can be completed at one time, the paving efficiency is greatly improved, and the problems of low construction efficiency of paving the ceramic tiles in the technical field of automatic control of the existing robot are solved.

Referring to fig. 2, a second embodiment of the tile laying control method according to the present invention includes:

201. when the robot is in an operation state, the mechanical arm is controlled to grasp the ceramic tile to be paved;

202. the mechanical arm is controlled to move to a preset brick placing position according to a preset moving path or action;

in this embodiment, in the robot working state, the end mechanism of the mechanical arm moves to a preset brick gripping position (above the brick warehouse, the end plane is parallel to the brick surface, and the end suction cup is located at the brick center). Because the inclination of the brick warehouse (the included angle between the supporting surface of the inclined supporting table and the horizontal plane is between 30 and 45 degrees) is supported and arranged, the placing position and the angle of the bricks are constant, and the consistency of the positions of the bricks when the mechanical arm grabs to the preset brick placing position can be ensured.

Specifically, when the robot is in an operation state, the mechanical arm is controlled to move to a preset brick grabbing position and to move to a brick surface of a ceramic tile to be paved, and a sucker on the mechanical arm is closely contacted with the brick surface; controlling the operation of a vacuum pump, and detecting whether the air pressure of the vacuum pump reaches a preset threshold value; if yes, stopping the vacuum pump operation, picking up the tile to be paved, and detecting whether the real-time air pressure of the vacuum pump reaches a preset threshold value in real time; and controlling the vacuum pump to operate when the real-time air pressure does not reach a preset threshold value, and stopping until the real-time air pressure reaches the preset threshold value.

Further, after the mechanical arm is controlled to move to a preset brick grabbing position and to move to a brick surface on which a ceramic tile is to be paved, before the sucker on the mechanical arm is closely contacted with the brick surface, the method further comprises: acquiring an included angle between a tile to be paved and a horizontal plane; based on the included angle, the angle between the tail end plane of the mechanical arm and the horizontal plane is adjusted to be parallel to the tile to be paved, and the mechanical arm is moved to enable the sucker to be consistent with the center position of the tile to be paved.

203. Taking a paving reference surface below the brick placing position as a reference, and carrying out three-dimensional position positioning on the ceramic brick to be paved to obtain corresponding pose data;

in this embodiment, further, when putting the brick leveling, can also synchronous carry out the vision coarse adjustment, carry out the pre-judgement this moment, put the brick leveling levelness in the numerical range of preset range, can start synchronous vision coarse adjustment, further improve efficiency. The tile laying state before the visual rough adjustment is specifically shown in fig. 4, and the tile laying state after the visual rough adjustment is specifically shown in fig. 5.

In this embodiment, the descent distance is calculated based on the first height and angle, and the horizontal spacing, i.e., the data from the tile laser distance sensor is acquired. Further, based on the descending distance, the to-be-tiled ceramic tile is controlled to descend to the tile placing position through the tail end mechanism of the mechanical arm.

204. Three-dimensional analysis is carried out on the pose data to obtain a first height and an angle of a tile to be paved and a tile glue plane and a horizontal distance between the tile to be paved and a reference tile;

in this embodiment, because the inclination of the brick warehouse (the included angle between the supporting surface of the inclined supporting table and the horizontal plane is between 30 ° and 45 °) is supported, the placement position and angle of the bricks are constant, so that the consistency of the positions of the bricks when the mechanical arm grabs to the preset brick placement position can be ensured.

205. Controlling the mechanical arm to level the tile to be paved based on the first height, the angle and the horizontal distance;

206. controlling the mechanical arm to horizontally move towards the direction close to the reference ceramic tile by utilizing horizontal dynamic visual guidance, adjusting the horizontal distance to be within a first preset width range, and keeping the height from the ceramic tile glue plane to be a first height;

in this embodiment, the data of the brick taking laser distance sensor is obtained, the distance from the sucker to the brick surface is calculated, and the tail end mechanism of the mechanical arm is moved to the brick surface position according to the calculation result. (according to the distance information, whether there are bricks, a plurality of bricks, and whether there are bricks missing information can be obtained).

207. The mechanical arm is controlled to descend to a second preset height along the vertical direction, and the horizontal distance is kept within a first preset width range;

In this embodiment, the end mechanism of the mechanical arm moves the tile to a predetermined tile placement position, for example, the tile surface is substantially parallel to the ground, and the tile bottom is approximately 30 mm above the tile glue. Specifically, motion control is performed according to a preset moving path or action of the mechanical arm, vision is not needed, the mechanical arm can be quickly and stably moved to a preset brick placing position, and at the moment, the primary positioning of the three-dimensional position of the brick is realized; meanwhile, the inclined arrangement of the brick warehouse and the brick grabbing of the mechanical arm to the preset brick placing position move basically in one plane/direction, so that the distance from the brick grabbing of the mechanical arm to the preset brick placing position can be further shortened, the rotation swing amplitude of the mechanical arm is reduced, the moving efficiency is further improved, and the accuracy of primary positioning is improved.

208. After reaching the second preset height, the mechanical arm is controlled to move downwards in the direction close to the reference tile, and when the horizontal distance is the standard brick joint width and the tile to be paved is attached to the tile glue on the tile glue plane, the vibration leveling mechanism on the mechanical arm is controlled to fully attach the tile to be paved to the tile glue.

In this embodiment, after reaching the second preset height, the mechanical arm is controlled to move the tile to be tiled along the vertical direction and the horizontal direction at the same time, and a first difference value between the vertically lowered height and the second preset height and a second difference value between the horizontally moved width of the tile gap and the first preset width are calculated in real time; according to the first difference value and the second difference value, the movement of the mechanical arm in the vertical direction and the horizontal direction is adjusted, and the tile to be paved is moved to a target position; when the target position is that the horizontal distance is equal to the width of a standard brick joint and the tile to be paved is attached to the tile glue on the tile glue plane, the vibration mechanism on the mechanical arm is controlled to apply acting force to the tile to be paved, and the tile to be paved is fully attached to the tile glue.

Specifically, the adjusting the movement of the mechanical arm in the vertical direction and the horizontal direction according to the first difference value and the second difference value, to move the tile to be tiled to a target position, includes: and respectively adjusting the moving speed of the mechanical arm in the vertical direction and the horizontal direction according to the first difference value and the second difference value, and moving the tile to be paved to the position corresponding to the width of the standard brick joint and simultaneously attaching the tile adhesive on the tile adhesive plane.

In another specific embodiment, the adjusting the movement of the mechanical arm in the vertical direction and the horizontal direction according to the first difference value and the second difference value, to move the tile to be tiled to the target position includes: and respectively adjusting the moving speed of the mechanical arm in the vertical direction and the horizontal direction according to the first difference value and the second difference value, and controlling the tile glue to be attached to the tile glue plane after the tile to be attached is controlled to move to the position corresponding to the standard brick joint width.

Specifically, the control the shake-out mechanism on the mechanical arm applies an acting force to the tile to be paved, and fully attaches the tile to be paved to the tile glue, including: controlling a tail end mechanism of the mechanical arm to apply a first vertical downward acting force to the ceramic tile to be tiled; judging whether the first acting force is in a preset value range or not; if so, applying a second acting force in the horizontal direction to the tile to be paved through a vibration mechanism on the mechanical arm, and fully attaching the tile to be paved to the tile glue.

Specifically, the second acting force in the horizontal direction is applied to the tile to be paved through the vibration leveling mechanism on the mechanical arm, the tile to be paved and the tile glue are fully attached, and the method comprises the following steps: detecting whether the upper surface of the ceramic tile to be paved and the upper surface of the reference ceramic tile are on the same horizontal plane; if not, applying auxiliary acting force to the tiles to be paved through a vibrating mechanism on the mechanical arm, wherein the direction of the auxiliary acting force is consistent with that of the first acting force; if yes, a second acting force in the horizontal direction is applied to the tile to be paved through a vibrating mechanism on the mechanical arm, and the tile to be paved is rubbed under the action of the second acting force, so that the lower surface of the tile to be paved is fully attached to the tile glue.

Steps 201 and 205 in this embodiment are similar to steps 101 and 103 in the first embodiment, and will not be described here again.

Referring to fig. 3, a third embodiment of the tile laying control method according to the present invention includes:

301. when the robot is in an operation state, the mechanical arm is controlled to move to a preset brick grabbing position and to move to the brick surface of the ceramic tile to be paved, and the sucker on the mechanical arm is tightly contacted with the brick surface;

in this embodiment, in the robot working state, the end mechanism of the mechanical arm moves to a preset brick gripping position (above the brick warehouse, the end plane is parallel to the brick surface, and the end suction cup is located at the brick center). Because the inclination of the brick warehouse (the included angle between the supporting surface of the inclined supporting table and the horizontal plane is between 30 and 45 degrees) is supported and arranged, the placing position and the angle of the bricks are constant, and the consistency of the positions of the bricks when the mechanical arm grabs to the preset brick placing position can be ensured. Specifically, the falling action is executed, a sucker on the tail end mechanism is closely contacted with the brick surface, the vacuum pump is turned on, and bricks are sucked through the sucker on the grabbing mechanism at the tail end of the mechanical arm; and judging that the air pressure reaches a preset threshold value through an IO input signal, and closing the vacuum pump after the air pressure reaches the preset threshold value, so that the brick grabbing is successful.

302. Controlling the operation of a vacuum pump, and detecting whether the air pressure of the vacuum pump reaches a preset threshold value;

In the embodiment, the falling action is executed, the sucking disc on the tail end mechanism is tightly contacted with the brick surface, the vacuum pump is turned on, and the brick suction is carried out through the sucking disc on the grabbing mechanism at the tail end of the mechanical arm; and judging that the air pressure reaches a preset threshold value through an IO input signal, and closing the vacuum pump after the air pressure reaches the preset threshold value, so that the brick grabbing is successful.

After the brick is successfully grabbed, whether the air pressure is lower than a preset threshold value or not is detected in real time through an IO input signal, the vacuum pump is turned on again when the air pressure is lower than the threshold value, and the vacuum pump is turned off when the air pressure is higher than the preset threshold value. Avoid falling the brick, improve the security.

303. If yes, stopping the vacuum pump operation, grabbing the tile to be paved, and detecting whether the real-time air pressure of the vacuum pump reaches a preset threshold value in real time;

in the embodiment, the air pressure is judged to reach a preset threshold value through the IO input signal, and the vacuum pump is turned off after the air pressure reaches the preset threshold value, so that the brick grabbing is successful. And after the brick is successfully grabbed, detecting whether the air pressure is lower than a preset threshold value in real time through an IO input signal, and restarting the vacuum pump if the air pressure is lower than the preset threshold value until the air pressure is higher than the preset threshold value, and closing the vacuum pump.

Further, the sucker is used for sucking the ceramic tile, the other end of the sucker is provided with a displacement sensor, the fluctuation threshold of the displacement sensor is set in consideration of the influence of sensitivity errors of the displacement sensor, and if the data output by the displacement sensor is larger than a set value, the fact that the ceramic tile is contacted with the ground can be primarily judged; and then the inner layer is judged by the pressure sensor to be contacted, namely, by arranging the electric cylinder, the pressure sensor is arranged on the electric cylinder, the pressure threshold value of the tile paving is set, and when the pressure sensor is higher than the set value, the fact that the tile is contacted with the ground can be judged, namely, the sucker is controlled to stop supplying pressure.

304. When the real-time air pressure does not reach the preset threshold value, controlling the vacuum pump to operate until the real-time air pressure reaches the preset threshold value;

in this embodiment, whether the real-time air pressure of the vacuum pump reaches a preset threshold is detected, and if the real-time air pressure does not reach the preset threshold, the vacuum pump is controlled to operate. And sucking bricks through sucking discs on a grabbing mechanism at the tail end of the mechanical arm. And judging that the air pressure reaches a preset threshold value through an IO input signal, and closing the vacuum pump after the air pressure reaches the preset threshold value, so that the brick grabbing is successful.

After the brick is successfully grabbed, whether the air pressure is lower than a preset threshold value or not is detected in real time through an IO input signal, the vacuum pump is turned on again when the air pressure is lower than the threshold value, and the vacuum pump is turned off when the air pressure is higher than the preset threshold value.

305. Acquiring an included angle between the ceramic tile to be paved and a horizontal plane, adjusting the angle between the tail end plane of the mechanical arm and the horizontal plane to be parallel to the ceramic tile to be paved based on the included angle, and moving the mechanical arm to enable the sucker to be consistent with the center position of the ceramic tile to be paved;

in this embodiment, spatial position information of a tile to be tiled is obtained, and a first height and an angle of a plane where the tile to be tiled and a reference tile are located are calculated based on the spatial position information.

306. Acquiring the position of the ceramic tile paved in front of the robot through a camera, and calculating the position coordinates of the ceramic tile to be paved based on the position of the ceramic tile;

In this embodiment, gather the ceramic tile position that has laid in front of the robot through the camera, specifically, fuse depth camera and laser rangefinder, then through aligning 2D camera and depth map and go on, carry out the line of spring discernment after the alignment, then catch the pixel coordinate value on ground and turn into corresponding coordinate on the tangential plane, and then integrate into three-dimensional coordinate data transmission to the master control with the data information after depth camera and laser rangefinder fuse, finally master control sends the instruction to actuating mechanism, actuating mechanism fuses the judgement through displacement sensor and pressure sensor, be favorable to discernment ground roughness, thereby improve ground recognition precision, and then improve ceramic tile paving precision.

307. Controlling the mechanical arm to move to the position coordinates, and adjusting the abutting surface in the ceramic tile to be paved to be opposite to the plane where the reference ceramic tile is located;

in this embodiment, calculate the position coordinate of waiting to lay the ceramic tile based on the ceramic tile position, fuse depth camera and laser range finder, then through aligning 2D camera and depth map and go on, carry out the line of spring discernment after the alignment, then catch the pixel coordinate value on ground and turn into corresponding coordinate on the tangent plane, and then integrate into three-dimensional coordinate data with the data information after depth camera and laser range finder fuses and send to the master control, finally master control sends the instruction to actuating mechanism, actuating mechanism fuses the judgement through displacement sensor and pressure sensor, and the laminating face in the adjustment waiting to lay the ceramic tile is parallel with the plane that the reference ceramic tile is located.

308. Controlling the mechanical arm to move to a preset brick placing position, acquiring pose data of the to-be-paved ceramic tile and a paving reference surface below the to-be-paved ceramic tile, and calculating a first height and an angle of the to-be-paved ceramic tile and a ceramic tile glue plane and a horizontal distance between the to-be-paved ceramic tile and a reference ceramic tile based on the pose data;

309. based on the first height and the angle, the mechanical arm is controlled to adjust the tile to be paved to be parallel to the tile glue plane;

310. Judging whether the horizontal distance is in a preset numerical range or not;

the three-stage progressive control strategy refers to: the first section, visual coarse adjustment, the visual guide aligns the brick seam in the horizontal direction developments, because the difference in height influences, visual error is bigger, so the setting width of brick seam adjustment is wider than standard brick seam, prevents to appear covering the brick because of the error results in down pressing. Second stage, descent: the method comprises the steps of acquiring data of a tile paving laser distance sensor, calculating a descent distance, and descending a mechanical arm tail end mechanism with a tile to a certain height according to a calculation result, wherein the height difference between a tile to be paved and a reference tile is about 5 millimeters, the visual error is large, and the visual judgment is affected because the tile bottom is closely adhered to a tile adhesive surface in the visual fine adjustment movement. Finally, in the third section, visual fine adjustment: the horizontal direction dynamically guides the aligned brick joints to be dynamically guided, and simultaneously, the tail end mechanism is provided with bricks to descend to the height parallel to the brick surface of the front brick, and the setting width of the brick joints is adjusted according to the standard brick joint width. Specifically, whether the horizontal distance is within a preset numerical range is judged, if so, the visual coarse adjustment can be synchronously performed when bricks are placed for leveling, and the pre-judgment is performed at the moment, so that the synchronous visual coarse adjustment can be started when the leveling levelness of the bricks is within the numerical range of the preset range, and the efficiency is further improved.

311. If not, the mechanical arm is controlled to move the tiles to be paved towards the reference tiles in the horizontal direction until the horizontal distance is within the preset numerical range;

in this embodiment, the leveling levelness of the laying bricks is not within the numerical range of the preset range, that is, the laying bricks are dynamically and visually guided to align the brick joints in the horizontal direction, and because of the influence of the height difference and the larger visual error, the setting width of the brick joint adjustment is wider than that of the standard brick joints, so that the pressing bricks are prevented from being pressed down due to the error.

Furthermore, visual coarse adjustment can be synchronously performed when bricks are placed and leveled, at the moment, pre-judgment is performed, the leveling levelness of the bricks are placed and leveled within a preset range of values, and if the horizontal distance is judged not to be within the preset range of values, the mechanical arm is controlled to move the ceramic bricks in the horizontal direction until the horizontal distance is within the preset range of values. That is, if the horizontal distance is not within the preset numerical range, the synchronous visual coarse adjustment can be started, so that the efficiency is further improved.

312. The mechanical arm is controlled to perform multistage progressive visual movement, the tile to be paved is aligned with the reference tile and is fully attached to the tile glue on the tile glue plane, and the multistage progressive visual movement comprises at least three descending alignment operations.

Steps 308 and 312 in this embodiment are similar to steps 102 and 104 in the first embodiment, and will not be described here again.

The method for controlling tile paving in the embodiment of the present invention is described above, and the robot in the embodiment of the present invention is described below, referring to fig. 8, where the robot in the embodiment of the present invention includes: including robot body, arm, shake flat mechanism, and set up in shake the vibrating motor on flat mechanism, and controlling means, wherein, controlling means's first embodiment includes:

a grabbing module 801, configured to control the mechanical arm to grab a tile to be tiled when the robot is in an operation state;

the calculating module 802 is configured to control the mechanical arm to move to a preset tile placing position, obtain pose data of the tile to be tiled and a tiling reference surface below the tile to be tiled, and calculate a first height, an angle and a horizontal distance between the tile to be tiled and a tile glue plane based on the pose data;

a leveling module 803 for controlling the mechanical arm to level the tile to be tiled based on the first height, the angle and the horizontal spacing;

the control module 804 is configured to control the mechanical arm to perform multi-segment progressive visual movement, align the tile to be tiled with the reference tile and fully attach the tile glue on the tile glue plane, where the multi-segment progressive visual movement includes at least three descending alignment operations.

Referring to fig. 9, in a second embodiment of the robot according to the present invention, the robot includes: including robot body, arm, shake flat mechanism and set up in shake the vibrating motor on the flat mechanism, and controlling means, wherein, controlling means specifically includes:

In this embodiment, the computing module 802 is specifically configured to:

controlling the mechanical arm to move to a preset brick placing position according to a preset moving path or action;

taking a paving reference surface below the brick placing position as a reference, and carrying out three-dimensional position positioning on the to-be-paved ceramic brick to obtain corresponding pose data;

and carrying out three-dimensional analysis on the pose data to obtain a first height and an angle of the tile to be paved and a tile glue plane and a horizontal distance between the tile to be paved and a reference tile.

In this embodiment, the control module 804 includes:

the horizontal moving unit 8041 is configured to control, when the multi-stage progressive visual movement is a three-stage progressive visual movement, the mechanical arm to move horizontally in a direction close to the reference tile by using horizontal dynamic visual guidance, adjust the horizontal distance to be within a first preset width range, and keep the height from the tile glue plane to be the first height;

a descending moving unit 8042, configured to control the mechanical arm to descend to a second preset height along a vertical direction, and keep the horizontal pitch within the first preset width range;

and the laminating control unit 8043 is used for controlling the mechanical arm to move downwards towards the direction close to the reference tile after reaching the second preset height, and controlling the vibration leveling mechanism on the mechanical arm to fully laminate the tile to be laminated with the tile glue when the horizontal distance is the standard tile seam width and the tile to be laminated is laminated with the tile glue on the tile glue plane.

In this embodiment, the adhesion control unit 8043 is specifically configured to:

after reaching the second preset height, controlling the mechanical arm to move the tiles to be paved along the vertical direction and the horizontal direction at the same time, and calculating a first difference value between the height after vertical descent and the second preset height and a second difference value between the width of the brick joint after horizontal movement and the first preset width in real time;

according to the first difference value and the second difference value, the movement of the mechanical arm in the vertical direction and the horizontal direction is adjusted, and the tile to be paved is moved to a target position;

when the target position is that the horizontal distance is equal to the width of a standard brick joint and the tile to be paved is attached to the tile glue on the tile glue plane, the vibration mechanism on the mechanical arm is controlled to apply acting force to the tile to be paved, and the tile to be paved is fully attached to the tile glue.

and respectively adjusting the moving speed of the mechanical arm in the vertical direction and the horizontal direction according to the first difference value and the second difference value, and moving the tile to be paved to the position corresponding to the width of the standard brick joint and simultaneously attaching the tile adhesive on the tile adhesive plane.

and respectively adjusting the moving speed of the mechanical arm in the vertical direction and the horizontal direction according to the first difference value and the second difference value, and controlling the tile glue to be attached to the tile glue plane after the tile to be attached is controlled to move to the position corresponding to the standard brick joint width.

controlling a tail end mechanism of the mechanical arm to apply a first vertical downward acting force to the ceramic tile to be tiled;

judging whether the first acting force is in a preset value range or not;

if so, applying a second acting force in the horizontal direction to the tile to be paved through a vibration mechanism on the mechanical arm, and fully attaching the tile to be paved to the tile glue.

detecting whether the upper surface of the ceramic tile to be paved and the upper surface of the reference ceramic tile are on the same horizontal plane;

if not, applying auxiliary acting force to the tiles to be paved through a vibrating mechanism on the mechanical arm, wherein the direction of the auxiliary acting force is consistent with that of the first acting force;

If yes, a second acting force in the horizontal direction is applied to the tile to be paved through a vibrating mechanism on the mechanical arm, and the tile to be paved is rubbed under the action of the second acting force, so that the lower surface of the tile to be paved is fully attached to the tile glue.

In this embodiment, the leveling module 803 includes:

a first leveling unit 8031, configured to control the mechanical arm to adjust the tile to be tiled to be parallel to the tile glue plane based on the first height and the angle;

a judging unit 8032, configured to judge whether the horizontal pitch is within a preset numerical range;

and the second leveling unit 8033 is used for controlling the mechanical arm to move the tile to be paved towards the reference tile in the horizontal direction until the horizontal distance is within the preset numerical range when the horizontal distance is not within the preset numerical range.

In this embodiment, the grabbing module 801 is specifically configured to:

when the robot is in an operation state, controlling the mechanical arm to move to a preset brick grabbing position and to move to a brick surface of a ceramic tile to be paved, and closely contacting a sucker on the mechanical arm with the brick surface;

Controlling the operation of a vacuum pump, and detecting whether the air pressure of the vacuum pump reaches a preset threshold value;

if yes, stopping the vacuum pump operation, picking up the tile to be paved, and detecting whether the real-time air pressure of the vacuum pump reaches a preset threshold value in real time;

and controlling the vacuum pump to operate when the real-time air pressure does not reach a preset threshold value, and stopping until the real-time air pressure reaches the preset threshold value.

In this embodiment, the grabbing module 801 is specifically further configured to:

acquiring an included angle between a tile to be paved and a horizontal plane;

based on the included angle, the angle between the tail end plane of the mechanical arm and the horizontal plane is adjusted to be parallel to the tile to be paved, and the mechanical arm is moved to enable the sucker to be consistent with the center position of the tile to be paved.

acquiring the position of the ceramic tile paved in front of the robot through a camera, and calculating the position coordinate of the ceramic tile to be paved based on the position of the ceramic tile;

and controlling the mechanical arm to move to the position coordinates, and adjusting the abutting surface in the ceramic tile to be paved to be opposite to the plane where the reference ceramic tile is located.

The robot in the embodiment of the present invention is described in detail from the point of view of the modularized functional entity in fig. 8 and 9 above, and the robot in the embodiment of the present invention is described in detail from the point of view of the hardware processing below.

Fig. 10 is a schematic diagram of a robot structure according to an embodiment of the present invention, where the robot 900 may have a relatively large difference due to different configurations or performances, and may include one or more processors (central processing units, CPU) 910 (e.g., one or more processors) and a memory 920, and one or more storage media 930 (e.g., one or more mass storage devices) storing application programs 933 or data 932. Wherein the memory 920 and storage medium 930 may be transitory or persistent storage. The program stored in the storage medium 930 may include one or more modules (not shown), each of which may include a series of instruction operations in the robot 900. Still further, the processor 910 may be configured to communicate with the storage medium 930 and execute a series of instruction operations in the storage medium 930 on the robot 900 to implement the steps of the tile laying control method provided in the above-described method embodiments.

The robot 900 may also include one or more power supplies 940, one or more wired or wireless network interfaces 950, one or more input/output interfaces 960, and/or one or more operating systems 931, such as Windows Serves, mac OS X, unix, linux, freeBSD, etc. It will be appreciated by those skilled in the art that the robot configuration shown in fig. 10 is not limiting of the robots provided by the present application and may include more or fewer components than shown, or may combine certain components, or may be a different arrangement of components.

The present application also provides a computer readable storage medium, which may be a non-volatile computer readable storage medium, or may be a volatile computer readable storage medium, in which instructions are stored which, when executed on a computer, cause the computer to perform the steps of the tile laying control method described above.

It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tile laying control method applied to a robot, the robot comprising a robot body and a mechanical arm, the tile laying control method comprising:

controlling the mechanical arm to grasp the ceramic tile to be paved when the robot is in an operation state;

controlling the mechanical arm to move to a preset brick placing position, acquiring pose data of the to-be-paved ceramic tile and a paving reference surface below the to-be-paved ceramic tile, and calculating a first height and an angle of the to-be-paved ceramic tile and a ceramic tile glue plane and a horizontal distance between the to-be-paved ceramic tile and a reference ceramic tile based on the pose data;

controlling the mechanical arm to level the tile to be tiled based on the first height, the angle and the horizontal spacing;

the mechanical arm is controlled to perform multistage progressive visual movement, the tile to be paved is aligned with the reference tile and is fully attached to the tile glue on the tile glue plane, and the multistage progressive visual movement comprises at least three descending alignment operations.

2. The tile laying control method according to claim 1, wherein the controlling the mechanical arm to move to a preset tile placing position, and acquiring pose data of the tile to be laid and a laying reference surface below the tile to be laid, and calculating a first height, an angle and a horizontal distance between the tile to be laid and a tile glue plane based on the pose data, comprises:

3. A tile installation control method according to claim 1 or 2, wherein the multi-segment progressive visual movement is a three-segment progressive visual movement; the control the arm carries out multistage progressive vision and removes, will wait to lay the ceramic tile and consult the ceramic tile alignment and with the ceramic tile is glued on the plane and is fully laminated, include:

controlling the mechanical arm to horizontally move towards the direction close to the reference ceramic tile by utilizing horizontal dynamic visual guidance, adjusting the horizontal distance to be within a first preset width range, and keeping the height from the ceramic tile glue plane to be the first height;

the mechanical arm is controlled to descend to a second preset height along the vertical direction, and the horizontal distance is kept within the first preset width range;

After reaching the second preset height, controlling the mechanical arm to move downwards in the direction close to the reference tile, and controlling the vibration leveling mechanism on the mechanical arm to fully attach the tile to be paved with the tile glue when the horizontal distance is the standard tile joint width and the tile to be paved is attached to the tile glue on the tile glue plane.

4. A tile installation control method according to claim 3, wherein after reaching the second preset height, controlling the mechanical arm to move downwards in a direction approaching the reference tile, and controlling a leveling mechanism on the mechanical arm to fully attach the tile to be installed to the tile glue when the horizontal distance is the standard tile gap width and the tile to be installed is attached to the tile glue on the tile glue plane, comprising:

5. The tile installation control method according to claim 4, wherein adjusting the movement of the robot arm in the vertical direction and the horizontal direction according to the first difference value and the second difference value, moves the tile to be installed to a target position, comprises:

6. The tile installation control method according to claim 4, wherein adjusting the movement of the robot arm in the vertical direction and the horizontal direction according to the first difference value and the second difference value, moves the tile to be installed to a target position, comprises:

7. The tile installation control method of claim 4, wherein said controlling the vibration leveling mechanism on the robotic arm to apply a force to the tile to be installed to substantially adhere the tile to be installed to the tile glue, comprises:

judging whether the first acting force is in a preset value range or not;

8. The tile installation control method according to claim 7, wherein the applying a second force in a horizontal direction to the tile to be installed by the vibration leveling mechanism on the mechanical arm, and the adequately adhering the tile to be installed to the tile glue, comprises:

9. The tile laying control method according to claim 1 or 2, wherein the controlling the mechanical arm to level the tile to be laid based on the first height, the angle, and the horizontal pitch comprises:

controlling the mechanical arm to adjust the tile to be tiled to be parallel to the tile glue plane based on the first height and the angle;

judging whether the horizontal distance is in a preset numerical range or not;

if not, the mechanical arm is controlled to move the tiles to be paved towards the reference tiles in the horizontal direction until the horizontal distance is within a preset numerical range.

10. The tile laying control method according to claim 1, wherein the controlling the robot arm to grasp the tile to be laid in the working state includes:

11. The tile installation control method according to claim 10, wherein after said controlling said robot arm to move to a preset tile gripping position and onto a tile surface to be tiled, before said bringing said suction cup on said robot arm into close contact with said tile surface, further comprising:

acquiring an included angle between a tile to be paved and a horizontal plane;

12. The tile laying control method according to claim 10, wherein after controlling the robot to grasp a tile to be laid in a working state, further comprising:

13. A robot, the robot comprising: including robot body, arm, and controlling means, wherein, controlling means includes:

the grabbing module is used for controlling the mechanical arm to grab the ceramic tile to be paved when the robot is in an operation state;

the computing module is used for controlling the mechanical arm to move to a preset brick placing position, acquiring pose data of the to-be-paved ceramic tile and a paving reference surface below the to-be-paved ceramic tile, and computing a first height and an angle of the to-be-paved ceramic tile and a ceramic tile glue plane and a horizontal distance between the to-be-paved ceramic tile and a reference ceramic tile based on the pose data;

The leveling module is used for controlling the mechanical arm to level the tile to be paved based on the first height, the angle and the horizontal interval;

the control module is used for controlling the mechanical arm to perform multistage progressive visual movement, aligning the tile to be paved with the reference tile and fully attaching the tile glue on the tile glue plane, wherein the multistage progressive visual movement comprises at least three descending alignment operations.

14. A robot, the robot comprising: a memory and at least one processor, the memory having instructions stored therein, the memory and the at least one processor being interconnected by a line;

the at least one processor invoking the instructions in the memory to cause the robot to perform the steps of the tile laying control method of any one of claims 1-12.

15. A computer readable storage medium having a computer program stored thereon, which when executed by a processor performs the steps of the tile installation control method according to any one of claims 1 to 12.