CN116696009A - Corner tile attaching method and wall tile paving robot - Google Patents

Corner tile attaching method and wall tile paving robot Download PDF

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Publication number
CN116696009A
CN116696009A CN202210923088.9A CN202210923088A CN116696009A CN 116696009 A CN116696009 A CN 116696009A CN 202210923088 A CN202210923088 A CN 202210923088A CN 116696009 A CN116696009 A CN 116696009A
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CN
China
Prior art keywords
wall
paved
bricks
paving
brick
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Pending
Application number
CN202210923088.9A
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Chinese (zh)
Inventor
杜立
王俊杰
何涛
贺长林
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Guangdong Bozhilin Robot Co Ltd
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Guangdong Bozhilin Robot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Guangdong Bozhilin Robot Co Ltd filed Critical Guangdong Bozhilin Robot Co Ltd
Priority to CN202210923088.9A priority Critical patent/CN116696009A/en
Publication of CN116696009A publication Critical patent/CN116696009A/en
Pending legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
    • E04F21/1838—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements
    • E04F21/1844—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements by applying them one by one
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
    • E04F21/1838—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements
    • E04F21/1877—Leveling devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Architecture (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Road Paving Machines (AREA)

Abstract

The invention discloses a corner tile attaching method and a wall tile attaching robot, wherein the attaching robot comprises a machine body, a chassis, a mechanical arm and a tail end flange, the specific steps of the corner tile attaching robot comprise a positioning procedure, a grabbing procedure and an attaching procedure, in the attaching procedure, a visual recognition system on the tail end flange captures images of the grabbed wall tiles and images of the wall tiles which are attached, and feeds back image information to a terminal, the terminal receives and analyzes the fed back image information, calculates the position deviation and the rotation angle deviation of the wall tiles to be attached and the wall tiles which are attached, and is used for positioning the wall tiles and controlling the width of brick joints of two adjacent wall tiles; the ranging system on the end flange is used for detecting the yaw angle between the wall bricks to be paved and the wall bricks which are paved, controlling the height difference and the flatness between two adjacent wall bricks, enabling the height difference and the flatness between every two adjacent wall bricks to fluctuate within a controllable range, improving the aesthetic degree of a working face and improving the use experience of users.

Description

Corner tile attaching method and wall tile paving robot
Technical Field
The invention relates to the technical field of building construction, in particular to a tile attaching method and a wall tile paving robot.
Background
In the process of paving the wall tiles for building decoration by using the paving robot, the paving robot firstly completes paving of the whole wall tiles, then carries out edge folding paving of the corner small wall tiles, however, the construction operation surface of the corner is generally positioned at the yin and yang corners of the wall body, the operation space is generally relatively narrow, the construction difficulty is large, and processing materials or other sundries are scattered on the road surface of the construction environment, so that the paving robot moves unstably, the irregular paving condition is easy to occur in the conventional paving process, the attractiveness of the operation surface is seriously influenced, the poor visual effect is caused, and the use experience of users is influenced.
Disclosure of Invention
In order to overcome at least one of the defects in the prior art, the invention provides a wall brick paving robot and a corner brick paving method applied to the robot.
The invention adopts the technical proposal for solving the problems that:
in a first aspect, the present invention provides a method of corner tiling comprising the steps of:
positioning procedure: positioning to a preset paving working point, and identifying a designated paving station;
and (3) a grabbing procedure: grabbing a wall brick to be paved;
paving: paving the grabbed wall bricks at a designated paving station;
the paving process comprises the following steps: a step of identifying and adjusting the wall bricks to be paved, a step of identifying and adjusting the paved wall bricks, and a step of identifying and controlling the distance between two adjacent paved wall bricks;
the step of identifying and controlling the distance between two adjacent wall bricks comprises the steps of identifying and obtaining the preliminary distance between two adjacent wall bricks, and controlling the preliminary distance to form a preset distance.
In summary, when the tile pasting method is applied to the tile pasting robot to carry out edge folding and tile pasting of corner small wall tiles, the tile pasting robot is positioned to a preset tile pasting working point, then the wall tiles to be pasted are grabbed through the mechanical arm on the tile pasting robot, finally the grabbed wall tiles are subjected to tile pasting operation at a specified tile pasting station, in the tile pasting process, the visual recognition system on the end flange of the mechanical arm captures images of the grabbed wall tiles and images of the wall tiles which are already pasted, the distance between any two adjacent tile pasting tiles is recognized, and the width of a brick joint between the two adjacent wall tiles is controlled, so that the wall tiles are guaranteed to be regularly pasted, the aesthetic degree of an operation surface is improved, and the use experience of a user is improved.
Further, the identifying and adjusting step of the wall brick to be paved comprises the following steps: detecting the actual distance between the appointed paving station and the wall brick picking end, comparing the actual distance with a preset distance, adjusting the distance deviation between the appointed paving station and the wall brick picking end, and adjusting the paving path of the wall brick to be paved according to the distance deviation.
Further, the adjusting the paving path of the wall brick to be paved comprises: and adjusting the front-back pitching angle and/or the rolling angle of the wall brick pick-up end.
Therefore, the tail end flange is in transmission connection with the mechanical arm, and a second inclination sensor is arranged on the tail end flange;
in the paving process, the second inclination sensor is used for correcting the angle of the tail end flange at the tail end of the mechanical arm so as to control the perpendicularity of paving the wall bricks, thereby further ensuring that the wall bricks are regularly paved and improving the aesthetic degree of the working face.
Further, the identifying and adjusting step of the wall brick to be paved comprises the following steps: and detecting the yaw angle between the wall bricks to be paved and the wall bricks which are paved, and controlling the height difference and the flatness between the wall bricks to be paved and the adjacent wall bricks to be paved.
The end flange is also provided with a ranging system, the ranging system comprises a first ranging sensor, and the first ranging sensor is positioned on the front surface of the position where the end flange is paved;
in the paving process, the first distance measuring sensor is used for detecting a yaw angle between the wall bricks to be paved and the wall bricks which are paved, and controlling the height difference and the flatness between two adjacent wall bricks.
So, detect the yaw angle between the wall brick through first range sensor, the difference in height and the flatness between every two adjacent wall bricks are undulant in controllable within range, promote the aesthetic measure of working face, promote user's use experience.
Further, the identifying and adjusting step of the wall brick to be paved further comprises: and detecting the distance between the pick-up end of the wall brick and barriers at two sides of the pick-up end of the wall brick so as to prevent collision interference.
The distance measuring system comprises second distance measuring sensors which are arranged in pairs and are respectively positioned on two sides of the tail end flange, which are parallel to the working surface to be paved;
in the paving process, the second distance measuring sensor is used for detecting the distance between the tail end flange and the walls on two sides of the tail end flange so as to prevent collision interference of the paving robot.
Therefore, the second distance measuring sensor is used for detecting the walls or the barriers on the two sides, so that the end flange cannot collide and interfere with the walls or the barriers on the two sides in the process of paving the working procedure of the paving robot, the paving of the wall bricks at the reentrant corner can be smoothly completed, and the stability of paving operation is ensured.
Further, the step of identifying and adjusting the paved wall bricks comprises the following steps: identifying the corners of the paved wall bricks and the wall bricks to be paved and identifying the edges of the paved wall bricks and the wall bricks to be paved.
The tail end flange is also provided with a visual identification system, and the visual identification system at least comprises two visual cameras;
in the paving process, one visual camera is used for identifying brick corners of the paved wall bricks and the wall bricks to be paved, and the other visual camera is used for identifying brick edges of the paved wall bricks and the wall bricks to be paved.
So, two vision cameras of vision system are used for discernment respectively to spread the brick angle and the brick limit of wall brick and waiting to spread the wall brick, realize the brick location and can guarantee the brick seam precision of two arbitrary adjacent wall bricks, promote the aesthetic measure of working face, promote user's use experience.
Further, after the step of identifying and adjusting the paved wall bricks, the method further comprises the following steps: and feeding back the image information of the brick corners and the brick edges of the paved wall bricks and the to-be-paved wall bricks to the terminal, analyzing the fed back image information by the terminal, calculating the position deviation and the rotation angle deviation of the to-be-paved wall bricks and the paved wall bricks, and correcting the coordinate positions of the to-be-paved wall bricks.
The visual recognition system feeds back the image information of the brick corners and the brick edges of the paved wall bricks and the to-be-paved wall bricks to the terminal, the terminal analyzes the fed-back image information, calculates the position deviation and the rotation angle deviation of the to-be-paved wall bricks and the paved wall bricks, and corrects the coordinate positions of the to-be-paved wall bricks.
Therefore, the terminal can analyze the image information collected by the visual recognition system to calculate the position deviation and the rotation angle deviation of the wall bricks to be paved and the paved wall bricks, so that different operation environments can be recognized, and the requirements of various paving environments can be met.
Further, the terminal performs path planning on the wall brick pick-up end according to the received image information of the brick corners and the brick edges of the paved wall bricks and the wall bricks to be paved so as to perform paving working procedure operation method setting.
Therefore, the terminal performs corresponding path planning on the tail end of the mechanical arm according to the received different image information so as to adapt to different working environments, so that the movement and the gesture of the mechanical arm can be correspondingly changed according to the different image information, and the diversity of the robot work environment of the paving machine is increased.
Further, the positioning procedure includes autonomous positioning and calibration positioning. Wherein, autonomous positioning adopts electromagnetic wave to perform positioning, and calibration positioning adopts visual identification positioning.
Specifically, autonomous positioning is achieved by arranging a navigation radar in the interior of the body of the paving robot, and calibration positioning is achieved by arranging a 3D camera and a ranging laser on the chassis;
in the positioning procedure, the paving robot performs autonomous positioning through the navigation radar, and the 3D camera and the ranging laser perform calibration positioning on the chassis so as to perform secondary positioning on the paving robot.
Further, before the positioning process, the method further comprises: and adjusting the position and angle of the pick-up end of the wall brick.
The chassis is also provided with a top cylinder and a first inclination angle sensor;
in the positioning process, the top cylinder and the first inclination sensor are used for adjusting the machine body so as to keep the machine body horizontal.
In a second aspect, the present invention also provides a wall tile paving robot (hereinafter referred to as paving robot), applying the corner tile method as described above, the paving robot comprising:
the machine body is provided with a mechanical arm which is used for moving the wall brick;
the chassis is movably connected with the machine body and used for moving the machine body;
a top cylinder is arranged on the chassis, one end of the top cylinder is connected with the chassis, and the other end of the top cylinder is connected with the machine body and used for maintaining the stability of the machine body;
the chassis is used for realizing the positioning procedure.
From the above, the machine body and the chassis of the wall brick paving robot are movably connected through the top cylinder, so that the machine body can be kept in a stable state all the time, and even if the pavement of a construction environment is provided with processed materials or other sundries, the mechanical arm can still pick up and lay the wall bricks stably, so that the follow-up regular paving of the wall bricks is realized, the aesthetic degree of a working surface is improved, and the use experience of a user is improved.
Further, the robot comprises a tail end flange which is movably connected to one end of the mechanical arm, which is far away from the machine body, and the tail end flange is used for realizing the grabbing procedure and the paving procedure.
Further, a ranging system is arranged on the tail end flange, and the ranging system comprises a first ranging sensor and a second ranging sensor;
the first distance measuring sensor is used for detecting a working surface to be paved, which is opposite to the tail end flange, and the second distance measuring sensors are arranged in pairs and are respectively positioned on two sides of the tail end flange, which are parallel to the working surface to be paved.
Further, a visual recognition system is further arranged on the tail end flange and used for recognizing brick corners of the paved wall bricks and the wall bricks to be paved and recognizing brick edges of the paved wall bricks and the wall bricks to be paved;
the visual recognition system is used for realizing the recognition and adjustment steps of the wall bricks to be paved and the recognition and adjustment steps of the paved wall bricks in the paving process.
In summary, the corner tile attaching method and the wall tile paving robot provided by the invention have the following technical effects:
(1) The machine body and the chassis of the paving robot are connected through the top cylinder, so that the machine body can be kept in a stable state all the time, even if the pavement of a construction environment is provided with processing materials or other sundries, the mechanical arm can still pick up and lay the wall bricks stably, the follow-up orderly paving of the wall bricks is realized, the aesthetic degree of a working surface is improved, and the use experience of a user is improved;
(2) In the positioning procedure, the paving robot performs primary positioning on the wall brick pick-up end through autonomous positioning and performs secondary positioning through calibration positioning, so that positioning errors when the paving robot performs paving operation are reduced, and further the operation efficiency of corner paving can be improved;
(3) In the paving process, the yaw angle between the wall bricks to be paved and the wall bricks which are paved are detected by the paving robot through the ranging system, the height difference and the flatness between two adjacent wall bricks are controlled, the height difference and the flatness between every two adjacent wall bricks fluctuate within a controllable range, the aesthetic degree of a working face is improved, the use experience of a user is improved, in addition, the distance from the pick-up end of the wall bricks to the working faces on two sides of the pick-up end of the wall bricks can be detected, so that collision interference is prevented, and the stability and the safety of the paving robot in paving operation are guaranteed.
Drawings
Fig. 1 is a schematic perspective view of a paving robot according to an embodiment of the present invention;
FIG. 2 is a schematic plan view of an end flange according to an embodiment of the present invention;
FIG. 3 is a perspective view of a three-dimensional mechanism of a paving work surface common to paving robots in this embodiment;
fig. 4 is a working plane front view of a second ranging sensor of the paving robot in the present embodiment;
fig. 5 is a plan side view of the laying robot in the present embodiment when performing a laying operation;
FIG. 6 is a schematic flow chart of the paving robot according to the embodiment of the present invention;
fig. 7 is a top view of the example of fig. 3.
Reference numerals:
1-of a machine body and 11-of a brick bin;
2-chassis;
3-a mechanical arm;
4-end flange, 41-second tilt sensor, 42-vision camera, 43-first ranging sensor, 44-second ranging sensor;
5-brick finishing;
6-small bar bricks.
Detailed Description
For a better understanding and implementation, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements to be referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Referring to fig. 1, the embodiment of the invention discloses a wall brick paving robot (hereinafter referred to as a paving robot), which comprises a machine body 1, a chassis 2, a mechanical arm 3 and a tail end flange 4, wherein the chassis 2 is movably connected with the machine body 1 and is used for driving the paving robot to integrally move, and it should be noted that the gravity center of the paving robot is arranged at a position of the chassis 2 or the lower part of the machine body 1 so as to avoid toppling caused by too high moving speed of the paving robot; one end transmission of arm 3 is connected in fuselage 1, the other end transmission is connected in terminal flange 4, arm 3 can carry out the removal on a plurality of directions, the angle for fuselage 1, in order to adapt to the shop of equidirectional shop, terminal flange 4 is used for picking up, shop's wall brick, further, be equipped with brick storehouse 11 on fuselage 1, can place not unidimensional wall brick in the brick storehouse 11, with the different needs of paving of adaptation, before the shop's operation, arm 3 drive terminal flange 4 pack the wall brick that will paste into brick storehouse 11, then chassis 2 drive fuselage 1 moves to the station that will carry out the shop's operation, terminal flange 4 picks up the wall brick from the brick storehouse 11, in order to carry out the shop's operation.
Specifically, the chassis 2 is further provided with a top cylinder and a first inclination sensor (not shown in the figure), one end of the top cylinder is connected to the chassis 2, and the other end is connected to the machine body 1, wherein in the embodiment, the top cylinders are provided with four top cylinders and are respectively arranged at four corners of the machine body 1, and it should also be noted that the specific number of the top cylinders is not limited, and two, five and the like top cylinders can be also used, so long as the stability of the machine body 1 can be maintained, and all the changes fall within the protection scope of the invention; the first inclination angle sensor is used for collecting angle data of the machine body 1 in the horizontal direction and the vertical direction, and the four top cylinders are combined with the angle data collected by the first inclination angle sensor to adjust the machine body 1 to be horizontal, so that even if the ground of the working environment is an inclined plane, the follow-up normal paving operation procedure of the paving robot can not be influenced.
The embodiment of the invention also discloses a corner tile sticking method which is applied to the paving robot, as shown in fig. 6, and comprises the following specific steps: positioning, namely positioning a preset paving working point, and identifying a designated paving station; a grabbing step of grabbing the wall bricks to be paved; a paving process, namely paving the grabbed wall bricks at a designated paving station, and further, the paving process comprises the following steps: a step of identifying and adjusting the wall bricks to be paved, a step of identifying and adjusting the wall bricks already paved, and a step of identifying and controlling the distance between two adjacent wall bricks to be paved.
The corner tile method will be described in detail below in connection with the construction of the above-described tiling robot.
Specifically, referring to fig. 2 and 5, the end flange 4 of the paving robot is provided with a second inclination sensor 41, and the second inclination sensor 41 is used for identifying the offset angles of the wall bricks picked up by the end flange 4 in the horizontal direction and the vertical direction, and correcting the offset angles at the same time so as to control the verticality of the paving of the wall bricks, ensure the neat paving of the wall bricks and improve the aesthetic degree of the working surface; the end flange 4 is also provided with a ranging system which comprises a first ranging sensor 43 and a second ranging sensor 44, wherein the first ranging sensor 43 is positioned on the front surface of the position where the end flange 4 is paved so as to detect the yaw angle between a wall brick to be paved and a wall brick which is paved, and further can control the height difference and the flatness between two adjacent wall bricks; the second sensors are arranged in pairs and are respectively positioned on two sides of the tail end flange 4, which are parallel to the working surface to be paved, as shown in fig. 4, the second sensors detect walls or barriers on two sides of the working surface of the tail end flange 4, so that the tail end flange 4 can not collide and interfere with the walls or barriers on two sides in the paving process of the paving robot, and the paving of the wall bricks at the internal corners can be smoothly completed, and the stability of paving operation is ensured.
Further, the end flange 4 is further provided with a visual recognition system, and the visual recognition system at least comprises two visual cameras 42, as shown in fig. 5, in the laying process, one visual camera 42 is used for recognizing the brick corners of the laid wall bricks and the wall bricks to be laid, and the other visual camera 42 is used for recognizing the brick edges of the laid wall bricks and the wall bricks to be laid, so that the positioning of the wall bricks is realized, the precision of the brick joints of any two adjacent wall bricks can be ensured, the aesthetic degree of the operation surface is improved, and the use experience of a user is improved.
Still further, referring to fig. 3 and 7 together, fig. 3 and 7 are general environments in which the paving robot according to the embodiment of the present invention needs to be applied to perform a paving operation, a paving operation surface along an X-axis direction is defined as a front operation surface, paving operation surfaces along a Y-axis direction on two sides of the paving robot are respectively a left operation surface and a right operation surface, wherein the front operation surface is further divided into left-to-right and right-to-left according to the paving direction, and an arrow defining the X-axis indicates a direction from left to right, and a direction of the arrow of the X-axis indicates a direction from right to left; the machine body 1 of the paving robot is internally provided with a navigation radar, the chassis 2 is internally provided with a 3D camera and a ranging laser, when the paving robot is placed in a working environment of a wall brick to be paved, the self-positioning is firstly carried out through the navigation radar, and it can be understood that the problem of poor signal reception of the navigation radar in part of the working environment can occur, and further the self-positioning is caused to deviate, so that the 3D camera and the ranging laser in the chassis 2 can carry out secondary positioning on the paving robot, the error of the previous self-positioning is reduced, and the accurate positioning of the paving robot is ensured; after the positioning is completed, the paving robot performs a grabbing process and a paving process, wherein in the paving process, the wall bricks to be paved comprise integral bricks 5 and small strip bricks 6, the paving robot firstly paves the integral bricks 5 of the large blocks in the brick bin 11 on the front working face and the working faces on two sides through the tail end flange 4, then the small strip bricks 6 are paved on the transition parts of any two adjacent working faces so as to perform edge folding paving, and the paving operation difficulty of the small strip bricks 6 is far greater than that of the integral bricks 5.
The process of laying the small bricks 6 will be described in detail below.
In this embodiment, after the laying robot finishes laying the whole bricks 5, the laying of the small bricks 6 is performed, as can be seen from the foregoing, the end flange 4 is provided with a visual recognition system, the visual recognition system captures an image of the wall bricks which have been laid and an image of the working face of the edge angle to be laid, the captured image is fed back to the terminal, the terminal analyzes the fed back image information, calculates the size of the working face of the edge angle to be laid, then transmits a command to the laying robot, and the end flange 4 picks up the small bricks 6 corresponding to the size of the part to be laid, thereby completing the grabbing procedure.
Next, laying the small bricks 6 loaded into the brick bins 11 to the corner working surface, specifically, when the end flange 4 picks up the small bricks 6, the small bricks 6 do not interfere with image capturing of a visual recognition system on the end flange 4, further, the visual recognition system at least comprises two visual cameras 42, one visual camera 42 is used for recognizing brick corners of the wall bricks to be laid and the wall bricks to be laid, the other visual camera 42 is used for recognizing brick edges of the wall bricks to be laid and the wall bricks to be laid, the visual recognition system refers to fig. 5, the visual recognition system feeds back captured image information of the brick corners and the brick edges of the wall bricks to be laid and the wall bricks to be laid to a terminal (not shown in the figure), the terminal receives and analyzes the fed back image information, calculates position deviation and rotation angle deviation of the wall bricks to be laid and the wall bricks, and the information is transmitted to a laying robot, specifically, the laying robot correspondingly adjusts the positions of the mechanical arm 3 and the end flange 4 according to the information, namely, and corrects the positions of the bricks to be laid; further, when the visual recognition system analyzes the image information of the brick edges of the paved wall bricks and the to-be-paved wall bricks, the width of the brick joints can be recognized, so that when the positions of the mechanical arm 3 and the tail end flange 4 are positioned, the width of the brick joints between any two adjacent wall bricks can be controlled, the aesthetic degree of a working surface is improved, and the use experience of a user is improved.
Specifically, the terminal can carry out corresponding path planning on the mechanical arm 3 and the tail end flange 4 according to different received image information so as to adapt to different working environments, so that the movement and the gesture of the mechanical arm 3 and the tail end flange 4 can carry out corresponding change according to different image information, and the diversity of the robot work environment of the paving machine is increased.
Further, when the visual recognition system performs the image capturing and recognizing process, the second inclination sensor 41 on the end flange 4 also performs the operation, and the second inclination sensor 41 is used for recognizing the offset angles of the small bricks 6 grabbed by the end flange 4 in the horizontal direction and the vertical direction, and correcting the offset angles at the same time, so as to control the perpendicularity of wall brick paving, further ensure that the wall bricks are regularly paved, and improve the aesthetic degree of the operation surface.
Furthermore, the ranging system on the end flange 4 performs the ranging operation while the visual recognition system performs the image capturing and recognition process, the ranging system includes the first ranging sensor 43 and the second ranging sensor 44, wherein the first ranging sensor 43 is located at the front of the position where the end flange 4 performs the paving operation, that is, the first ranging sensor 43 is used for measuring the data information on the front working surface, specifically, in this embodiment, two first ranging sensors 43 are provided, and of course, other numbers can be set, and no specific number limitation is made, so long as the measurement can be performed on the size data information of the front working surface, and such conversion falls within the protection scope of the present invention; the first distance measuring sensor 43 is used for detecting a yaw angle between a wall brick to be paved and a wall brick which is paved, controlling the height difference and the flatness between two adjacent wall bricks, enabling the height difference and the flatness between every two adjacent wall bricks to fluctuate within a controllable range, improving the aesthetic degree of a working face and improving the use experience of a user.
While the first ranging sensor 43 performs ranging operation, the second ranging sensor 44 also performs ranging operation, the second ranging sensors 44 are arranged in pairs, and are arranged on two sides of the end flange 4, namely on two sides of the parallel left and right operation surfaces in fig. 7, specifically, please refer to fig. 4, the second ranging sensors 44 are used for detecting the distance from the end flange 4 to the left and right operation surfaces, so that collision interference is avoided when the paving robot performs paving operation in the working environments of fig. 3, fig. 7 or the like, and further, wall bricks at the internal corners can be smoothly paved, and the stability of paving operation is ensured.
In summary, the tile attaching method in this embodiment specifically includes the following steps:
(1) A positioning procedure, wherein the navigation radar performs autonomous positioning on the paving robot, then a 3D camera and ranging laser in the chassis 2 perform secondary positioning on the paving robot so as to reduce the error of the previous autonomous positioning, ensure that the paving robot is positioned accurately, and simultaneously, a top cylinder and a first inclination sensor on the chassis 2 level the machine body 1 model so as to perform the subsequent procedure;
(2) The first grabbing procedure, the end flange 4 grabs the whole brick 5, the visual recognition system captures an operation surface image of a part to be paved, the captured image is fed back to the terminal, the terminal receives and analyzes the fed back image information, the position deviation and the rotation angle deviation of the whole brick 5 to be paved are calculated, the positions of the mechanical arm 3 and the end flange 4 are correspondingly adjusted according to the information by the plastering robot, namely, the coordinate position of the whole brick 52 to be paved is corrected, and the positioning of the whole brick 5 is completed;
(3) A first laying process, in which the second inclination sensor 41 is used to identify the offset angle of the whole bricks 5 grasped by the end flange 4 in the horizontal direction and the vertical direction, and correct the offset angle at the same time to control the perpendicularity of the laying of the whole bricks 5, the first distance measuring sensor 43 is used to detect the yaw angle between the whole bricks 5 to be laid and the finished whole bricks 5, and control the height difference and flatness between two adjacent whole bricks 5 so that the height difference and flatness between every two adjacent whole bricks 5 fluctuate within a controllable range, and then the kneading of the bricks is performed until the size of the part to be laid is smaller than the size of the whole bricks 5, and then the laying of the small bricks 6 is performed;
(4) A second grabbing procedure, the visual recognition system captures the image of the whole brick 5 which is already paved and the working face image of the part to be paved, the captured image is fed back to the terminal, the terminal analyzes the fed back image information to calculate the size of the part to be paved, then an instruction is transmitted to the paving robot, the terminal flange 4 picks up the small strip bricks 6 corresponding to the size of the part to be paved, the visual recognition system feeds back the captured image information of the whole brick 5 to be paved and the brick angles and brick edges of the small strip bricks 6 to be paved to the terminal, the terminal receives and analyzes the fed back image information to calculate the position deviation and the rotation angle deviation of the small strip bricks 6 to be paved and the whole brick 5 to be paved, and the information is transmitted to the paving robot, and the terminal flange 4 corrects the coordinate positions of the small strip bricks 6 to be paved;
(5) And a second paving process, wherein the visual recognition system captures the image information of the brick angles and the brick edges of the paved whole bricks 5 and the small bricks 6 to be paved, and feeds the image information back to the terminal, the terminal receives and analyzes and calculates the fed back image information to control the width of the brick joint, the first ranging sensor 43 detects the yaw angle between the small bricks 6 to be paved and the paved whole bricks 5, and controls the height difference and the flatness between two adjacent wall bricks, so that the height difference and the flatness between every two adjacent wall bricks fluctuate within a controllable range, and then the paving bricks are rubbed.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The technical means disclosed by the scheme of the invention is not limited to the technical means disclosed by the embodiment, and also comprises the technical scheme formed by any combination of the technical features. It should be noted that modifications and adaptations to the invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.

Claims (14)

1. A method of corner tiling comprising the steps of:
positioning procedure: positioning to a preset paving working point, and identifying a designated paving station;
and (3) a grabbing procedure: grabbing a wall brick to be paved;
paving: paving the grabbed wall bricks at a designated paving station;
the paving process comprises the following steps: a step of identifying and adjusting the wall bricks to be paved, a step of identifying and adjusting the paved wall bricks, and a step of identifying and controlling the distance between two adjacent paved wall bricks;
the step of identifying and controlling the distance between two adjacent wall bricks comprises the steps of identifying and obtaining the preliminary distance between two adjacent wall bricks, and controlling the preliminary distance to form a preset distance.
2. A method of corner tiling according to claim 1, wherein said step of identifying and adjusting the tile to be tiled comprises: detecting the actual distance between the appointed paving station and the wall brick picking end, comparing the actual distance with a preset distance, adjusting the distance deviation between the appointed paving station and the wall brick picking end, and adjusting the paving path of the wall brick to be paved according to the distance deviation.
3. A method of corner tiling according to claim 2 wherein said adjusting the tiling path of the wall tiles to be tiled comprises: and adjusting the front-back pitching angle and/or the rolling angle of the wall brick pick-up end.
4. A method of corner tiling according to claim 1, wherein said step of identifying and adjusting the tile to be tiled comprises: and detecting the yaw angle between the wall bricks to be paved and the wall bricks which are paved, and controlling the height difference and the flatness between the wall bricks to be paved and the adjacent wall bricks to be paved.
5. The method of claim 4, wherein the step of identifying and adjusting the tile to be tiled further comprises: and detecting the distance between the pick-up end of the wall brick and barriers at two sides of the pick-up end of the wall brick so as to prevent collision interference.
6. A method of corner tiling according to claim 1, wherein said step of identifying and adjusting the tiled wall tiles comprises: identifying the corners of the paved wall bricks and the wall bricks to be paved and identifying the edges of the paved wall bricks and the wall bricks to be paved.
7. The method of claim 6, further comprising, after the step of identifying and adjusting the tiled wall tiles: and feeding back the image information of the brick corners and the brick edges of the paved wall bricks and the to-be-paved wall bricks to the terminal, analyzing the fed back image information by the terminal, calculating the position deviation and the rotation angle deviation of the to-be-paved wall bricks and the paved wall bricks, and correcting the coordinate positions of the to-be-paved wall bricks.
8. A method of corner tiling as claimed in claim 7, wherein: and the terminal performs path planning on the wall brick pick-up end according to the received image information of the brick corners and the brick edges of the paved wall bricks and the wall bricks to be paved so as to perform paving working procedure operation method setting.
9. A method of corner tiling according to claim 1, wherein said positioning procedure comprises autonomous positioning and calibrated positioning.
10. A method of corner tiling according to claim 9, further comprising, prior to said positioning step: and adjusting the position and angle of the pick-up end of the wall brick.
11. A wall tile placement robot employing the corner tile method of any one of claims 1-10, comprising:
the machine body is provided with a mechanical arm which is used for moving the wall brick;
the chassis is movably connected with the machine body and used for moving the machine body;
a top cylinder is arranged on the chassis, one end of the top cylinder is connected with the chassis, and the other end of the top cylinder is connected with the machine body and used for maintaining the stability of the machine body;
the chassis is used for realizing the positioning procedure.
12. A wall tile placement robot as recited in claim 11, further characterized by: the robot comprises a robot arm, a machine body, a gripping process and a paving process, and is characterized by further comprising a tail end flange which is movably connected to one end of the robot arm, which is far away from the machine body, and is used for realizing the gripping process and the paving process.
13. A wall tile placement robot as recited in claim 12, further characterized by: the end flange is provided with a ranging system, and the ranging system comprises a first ranging sensor and a second ranging sensor;
the first distance measuring sensor is used for detecting a working surface to be paved, which is opposite to the tail end flange, and the second distance measuring sensors are arranged in pairs and are respectively positioned on two sides of the tail end flange, which are parallel to the working surface to be paved.
14. A wall tile placement robot according to claim 12 or 13, characterized in that: the visual recognition system is also arranged on the tail end flange and is used for recognizing brick corners of the paved wall bricks and the wall bricks to be paved and recognizing brick edges of the paved wall bricks and the wall bricks to be paved;
the visual recognition system is used for realizing the recognition and adjustment steps of the wall bricks to be paved and the recognition and adjustment steps of the paved wall bricks in the paving process.
CN202210923088.9A 2022-08-02 2022-08-02 Corner tile attaching method and wall tile paving robot Pending CN116696009A (en)

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Application Number Priority Date Filing Date Title
CN202210923088.9A CN116696009A (en) 2022-08-02 2022-08-02 Corner tile attaching method and wall tile paving robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210923088.9A CN116696009A (en) 2022-08-02 2022-08-02 Corner tile attaching method and wall tile paving robot

Publications (1)

Publication Number Publication Date
CN116696009A true CN116696009A (en) 2023-09-05

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Country Link
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