JPH02112552A - Recognition system for joint line - Google Patents

Abstract

PURPOSE:To obtain a simple joint line recognition system for processes as well as reduce the cost of hardware by a method in which the presence of the joint line between tiles is recognised by the detection of tiles on both sides of the joint line. CONSTITUTION:A joint packer Jf consists of a full-automatic machine to pack joint grout along the joint line between a tile wall panel Pw and a ceramic square tile Tij. A joint line recognition system Sr consists of a tile sensor mechanism Dt playing a role of optic nerve and a logical recognition circuit Re as a brain, together with tile sensors 1-5 and 1'-5' and a common base 6. Cylinders Ca1-Ca4 are operated to lower guns Gn1-Gn4, and a pinch valve Vp is opened to apply horizontal and vertical joints. The cost of the detection mechanism can thus be reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a system for recognizing the presence of joint lines between tiles.

(Prior art) For example, when performing joint filling between aligned and juxtaposed tiles or when applying makeup to foundation joints, it is fully accepted that information regarding joint grid patterns and grid constants can be easily obtained. When performing construction work based on information, it is necessary to go through the process of recognizing that there are clearly joint lines (i.e., linear joint allowances and joint materials) in the target area, even if it is an unconscious or habitual action. If you do so, it is difficult to expect a good finish.

In this regard, the presence of inter-tile joint lines is usually obvious by looking at them.

Therefore, in the past, the person in charge had to visually check the joint lines as the work was being carried out.

In other words, the cooperative play between the human optic nerve and the brain constituted the process of recognizing the existence of joint lines, and the hands and feet performed the construction work based on instructions from the brain.

(Problem to be solved by the invention) Recently, however, attempts have been made to fully automate such work, and considerable progress has been made in the development of mechanisms that serve as the hands and feet during construction, but it is difficult to make them function properly. The emergence of a system that handles the joint line recognition process has been eagerly awaited.

The immediate challenge was to develop a system that could perform the coordination between the optic nerve and the brain when visualizing the line of sight in a process that was as simple as possible and to a practically comparable level.

However, in order to solve this problem, if we simply simulate the line of sight during visual recognition and directly detect and recognize the presence of the joint line, the line width will be thin and the line width will be thin.
Because we have to be careful about distinguishing it from the background, the hardware, especially the detection mechanism, becomes expensive.
There were some undesirable problems lurking.

The present invention has been made to effectively solve the problems related to the conventional act of visualizing joint lines and the problems hidden therein, and its purpose is to keep hardware costs low. The purpose of this invention is to provide a joint line recognition system that is capable of performing and is a simple process.

(Means for Solving the Problems) In order to achieve the above object, the present invention recognizes the existence of a joint line between tiles by detecting tiles on both sides of the joint line.

(Function) According to the above means, it is only necessary to detect the tiles rather than the joint lines. Therefore, the width of the detection target is large and the probability of false detection is small, so the hardware specifications are relaxed and the In addition, it is practical to have tiles on both sides of the joint line, and to have a joint line between the tiles.
Since they can be treated as equivalent, the process of recognizing the joint line by detecting the tiles on both sides of one side has content that is reliable.

(Example) Hereinafter, an example in which the present invention is applied to a wall panel joint filling device will be described in detail based on the accompanying drawings.

First, an overview of the joint filling device will be explained with reference to FIG. 4 and FIG. 5rIli.

FIG. 4 is a plan view of the joint filling device, and FIG. 5 is a right side view thereof.

In the figure, Jf represents the entire joint filling device, and the device Jf is the production line LP of the tile wall covering wall panel Pw (Figure 4).
Among them, ceramic square tiles Tij (i, j are arbitrary natural numbers, reference point P
This is a fully automatic machine that fills the joint filler along the joint line between (the subscript indicating that it is located in the i-th row and j column when viewed from o), and in line Lp, the panel Pw is placed on a large horizontal pallet pt. Since the pallet handling system Sp, the pallet supply filling system Sm, and the control system Sc that centrally controls the whole and each part are configured as a machine system. It has become.

The pallet pt is constructed from a receiving plate Pt with vertical and horizontal dimensions (vertical Yp, horizontal 2-pointing piece P that is extended and also serves as a stopper for the wall panel Pw
s! , Pg! Consists of.

The pallet handling system Sp includes a trolley Tr that holds and transports the pallet pt horizontally, a wire drive machine aDw that pulls and reciprocates it along a pair of parallel straight tracks Rt and Rt, and lifts the pallet (Pt) on the trolley Tr. It consists of a direction change mechanism Dc that rotates horizontally by 90 degrees to change the vertical and horizontal direction, and the support leg St is mounted on a concrete foundation Fd (Fig. 5).
Horizontal machine frame FfL constructed by assembling beams of ...
In addition, a direction change mechanism Dc is installed and supported on the bogie tracks Rt, Rt, the drive machine [Dw, and the gate frame Fgl provided in such a manner as to span the rear half of the machine frame Fi.

The trolley Tr includes a receiving frame Ftr which has a generally rectangular outline in plan view and can stably store pallets (Pt) in both vertical and horizontal directions, and a track Rt which is disposed on the front, rear, left and right sides of the lower surface of the receiving frame Ftr.

It consists of a rolling wheel Wtr... (Fig. 5) that engages with the receiving frame Ftr, and a pin Pn... is protruded from the upper surface of the receiving frame Ftr, which is connected to the lower surface of the receiving plate Pr of the pallet) Pt. By engaging with the round holes H1... (Fig. 4) formed in the pallet pt, the pallet pt can be held horizontally.

The wire drive mechanism Dw connects both ends of a pair of wire cables Cw and Cw to the front and rear ends of the support frame Ftr of one bogie Tr to form a closed loop, and connects this to the drive pulleys Pd and Pd at the rear end of the machine frame F and the front end. fiddle pulley Pi, Pi
The interlock is of a passed structure, with pulley Pd and shaft Sh of Pd.

sh is connected to the step motor Ms via a common friction gear Gr.

The direction change mechanism DC includes a vertical lifting mechanism Lv for lifting the barre Pt from the trolley Tr and lowering it onto the trolley Tr after changing direction, and a horizontal turning mechanism for rotating this Lv together with the barre Pt. It consists of a machine MIIRh, and the lifting mechanism Lv is
Power cylinder Pch is installed on the outer periphery of the horizontal rectangular frame Fsq.
... is fixed outward, and a further power cylinder Pc ... is attached downward to the tip of the power cylinder Pc.
The receiver arm Am... (Fig. 5) is protruded from the lower end of the cylinder Pch, and is exposed from the side to the periphery of the pallet Pt. . . . is inserted into the lower surface of the pallet Pt, moves upward with the operation of the cylinder Pc, and by the above reverse operation, the pallet pt is lowered onto the trolley Tr. The turning mechanism Rh includes beam members BJ of two lengths and short lengths on the top frame Tfr of the gate frame Fgl.
I.

Bs (Fig. 4) is passed to the flint and the top plate Tpt is stretched, a semicircular notch Ct is provided in this, a guide rail Rg is rotated along the arc, and a bracket B is attached to the beam member Bi.
A caster C is provided with protruding r and is therefore vertically installed on the rail Rg.
While the frame Fsq is suspended by a hanger Hg with s, it can be freely rotated by a rotary actuator Ac installed vertically on the bracket Br, thereby rotating the pallet Pt and the wall panel Pw above it. , 4th
As you can imagine from the figure, the tiles Tij, Ti'j(i
'=i+1) joint &1Jxi, that is, the direction of the horizontal joint and the tiles Tij, Tij'(j'-j
The joint lines Jyj between +1), that is, the directions of the vertical joints are interchanged with each other.

The fatty tuna supply and filling system Sm includes a circulation mechanism Me that pressure-feeds and circulates the fatty tuna to maintain its freshness, and a circulation mechanism Me that takes out the required amount of fatty tuna from this mechanism and connects it to the joint line Jxi of the wall panel Pw.

It is composed of a filling mechanism Mf for filling Jyj, and the whole is mounted on a traverse carrier Cr on a gate frame Fg2 provided in the center of the machine frame Fl, so that it can be freely transported perpendicular to the traveling direction of the pallet truck Tr.

The Toro'Oa ring mechanism Me has a mixing hopper Hp set up on the base plate Bp of the carrier Cr, and a four-system Toro circulation line Lcl that uses this as a common reservoir.
, Lc2. Lc3. Lc4 is provided, pressure pumps P ml , Pm2 , Pd , and Pm4 are interposed, respectively, and the configuration is such that it is driven by a single motor Mt via decelerators Rd and Rd shared by the two systems.

The toro filling mechanism Mf will now be explained with reference to FIG. 1. FIG. 1 is a cross-sectional plan view of the main part of the lower end of the mechanism, that is, the part facing the wall panel.

Toro filling mechanism Mf is base play of carrier Cr) B
P Four troguns G connected downward to the corresponding circulation lines Lcl to Lc4 on the lower surface side and facing the wall panel Pw from above to perform joint filling! 11°Ca2. Ca3. Ca4
and these guns Gnl- from above the base plate Bp.
Air cylinder Ca1.Gn4 moves up and down to perform two-position control respectively. Ca2゜Ca3. There are four hollow holders Hd (Fig. 5) that hold the corresponding gaffs Gnl-Gn4 slidably up and down (Fig. 5) and are arranged below the cylinders Bp. A common base Cba (Fig. 4) is played to align the carriers Cr in the moving direction at a pitch Mo approximately equal to the side dimension of the tile (accurately taking into account the joint width) Bp
It is fixed on the top. In addition, each holder Hd has a triangular stay St! (Figure 5). In addition, the rod axes of the cylinders Cal to Ca4 and the center lines of the corresponding guns Gnl to Gn4 are placed in a collinear relationship, that is, in a relationship such that they form an upper and lower set, and the entirety of both is coplanar. to simplify position control.

Each of the Toro guns Gnl to Gn4 has a gun body Gb equipped with an internal passage communicating with the corresponding circulation line 'Lcl-Lc4, and a gun tip Gt for Toro injection using a rubber tube constriction type air-operated pinch valve. The Teflon tip disk Td, which is connected by Vp and slides against the tile Tij surface at the lower end of the tip CP to prevent scattering, compaction filling, and joint finishing, can be moved up and down with a slight stroke. and is biased downward by a coil spring (not shown).

The carrier Cr has a rolling wheel Wcr and a drive wheel Wed (Fig. 5) suitably arranged on the front, rear, left and right sides of the lower surface of the base plate Bp, and the latter Wcd is driven by a drive motor Md (Fig. 4) above the plate Bp. While driving, a pair of carrier orbits Re,
Re and a protruding traveling position marker Mk (Fig. 5) are provided, and the traveling distance along the track Rc and Rc is detected by a limit switch Ls that engages with the marker Mk. control signal.

In this example, I! Above, the wall panel Pw is connected to the trolley T.
r and arrives below the trogan filling mechanism Mf, and all or some or several of the four trogans G1n1 to Gn4 (the number depends on the size of the tile Tij used YtxXt
, and the information has already been input to the control system Sc) is moved down to the filling operation position by air cylinders Cal to Ca4, and each chip Ct faces its target joint filling area from above and is loaded. When attempting to inject the horizontal joint line Jxi (if JyD exists after the direction change), a joint line recognition system recognizes its existence and allows the opening operation of the corresponding pinch valve Vp. Sr is provided as a part of the control system Sc, and its details will be described below with reference to Fig. 2. Fig. 2 is a connection diagram of the logic circuit that is the brain of the system Sr. In addition, hereafter, the orthogonal spatial coordinate system x-y
-z is introduced, the forward direction of the pallet truck Tr is the X-axis stop direction, the forward direction of the traverse carrier Cr is the Y-axis stop direction,
The upward movement direction of the trogans Gnl to Gn4 is defined as the Z-axis stopping direction.

The joint line/recognition system Sr consists of a tile detection mechanism Dt, which plays the role of the optic nerve in the human recognition process, and a logical recognition circuit Re, which serves as the brain.

The detection mechanism Dt is connected to the front, rear, diagonal left and right sides of each trogan Gnl to Gn4 arranged at a pitch Mo in the Y direction, that is, the −X side and ÷
Tile sensors 1 to 5, 1゛ to 5°, and these sensors 1 to 5.1°, which are shared in five units at the X side staggered position (that is, the position shifted by Mo/2 from the Y coordinate)
Holding ~5° downwards, tile Tij of wall panel Pw
It is composed of a common base 6 for allowing the guns to take a posture that allows them to face the surface perpendicularly from above, and for aligning the guns Gut to Gn4 at a pitch Mo in the Y direction, and the base 6 is fixedly fitted to the lower end of the gun holder Hd. Sensors 1 to 5 are attached to the lower ends of vertical rods 6a... (FIG. 5) provided on the lower surface of the base 6. Install l゛~5°.

Incidentally, sensors 1 to 5 of this embodiment. 1° to 5° detect the presence of a detection surface at a predetermined distance below by projecting and receiving an infrared beam, and output detection signals D1 to D5. DI'〜D
5", but it is not necessary to be limited to this type as long as the presence of the tile Tij can be detected.

Furthermore, in this embodiment, each gun Gnp (
When the horizontal position of p = t ~ 4) is expressed as (Xgp, Ygp), the sensors q, q' (q = 1 ~ 5)
) (7) Relative position (Xdq, Ydq), (Xd
q'.

Ydq'), but the X coordinate is Xdq=Xgp-(
Mo/2), X dq' = Xgp+ (Mo/2)
, and for the Y coordinate, if q=l~4, Ydq=
Ydq' = Ygp-(Mo/2) (However, q=
p), and (when 1=2 to 5, Ydq=Ydq'
=YgP+(No/2) (Q=P+1), so the -X side and +
A pair of sensors q, q+1 and q', q' on the X side, respectively.
+1 (q=p) to obtain the same effect as deploying, but in that case, Xdq or Xdq' and XgP
There is no problem in changing the difference Mo/2 from the above as appropriate depending on the inertial running condition of the pallet truck Tr.

In appearance, the recognition circuit Re is connected to the -X side tile sensor 1.
Terminal tlNt5 receiving detection signal DI-D5 from ~5
and signals DI' to D5 from the +x side sensors l° to 5°.
' are provided on the input side with five terminals tl' to t5° for receiving the corresponding Trogan G! There are four terminals to send condition signals 51 to S4 to the console of the control system Sc to allow the pinch valve Vp of 1l-Gn4 to open.
A logic operation unit equipped with l-to4 on the output side, and contacts cl-c connected to the -X measurement input terminals t1 to t5.
5 and the contacts c1° to c5° connected to the input terminals tl' to t5' for the
When traveling to the +X side (at this time, each gun Gnp moves relative to the -X side with respect to the wall panel Pw), these switches 7 to 11 have contacts cl- leading to the -X side sensors 1 to 5.
synchronizing means 12 (
If the operating mechanism of the switches 7 to 11 is mechanical, the common rod, etc., or if it is an electronic type, a synchronization signal lead wire, etc.), and the switches 7 to 11 mentioned above.
output side contact cal-ca5 and unit output terminal to
It has built-in four logical product means, that is, two-signal AND circuits 13 to 16, interposed between it and lto4.

In addition, the connection relationship of the AND circuits 13 to 16 is such that the two input side lead wires are connected sequentially to Irl and Ir2 (r=1 to 4).
0r (r=1~4) in the same order as the output side lead wire.
), and the switch output contact is indicated by cou (u = 1 to 5)
, unit) When the output terminal is expressed as tov (v=1 to 4), Irl and Ir2 are connected to cou with the subscript relationship of u=r and u=r+1, respectively, and Or is connected to cou with the relationship of V=U.
Make it so that it leads to v.

Therefore, any Trogan Gnp (p=1 to 4) has a pair of sensors q located on its exposed side.

q+1 or q, q'+l (q=p), that is,
When the trolley Tr travels toward the
'+ 1 (q = p) are both tile surface detection signals Dq, Dq+1 or Dq', Dq'+ 1 (q
= p), the corresponding condition signal Sw (w=p) among the condition signals 5l-54 is turned on, and the opening operation of the pinch valve Vp is permitted.

However, as is clear from the dimensions of the staggered arrangement,
Horizontal joint line Jx at the tip of Torogan Gnp (p = 1 to 4)
If you face i, sensors q and q+1 or qo and q'+
1 (q=p) occupy the positions overlooking the tiles Tij and Ti'j, respectively, and both receive the detection signal Dq, Dq+1 or Dq.
, Dq”+1 (q = p).

Therefore, the recognition system Sr has a process of recognizing the existence of the joint line Jxi by detecting the tiles T ij , Ti'j on both sides of the joint line Jxi, and prompting the toro ejection to this Jii. It will be the same thing.

The operation of the joint filling device Jf will be explained with reference to FIG. 3.
FIG. 3 is an action explanatory diagram showing the positional relationship between tile sensors and tiles.

In addition, in the tree line Lp, it is assumed that the tiles Tij of the wall panel Pw are modularized, and the reference dimension is Mo.
, and the tile size YtxXt is ((X-MO)X(β
*M o ), a=1. For the case β=1,
As will be explained below, in the case of α=k>1 or β='>1, a condition is attached to each to operate only the th or second gun Gr+p (p: a multiple of k or ni'). All you have to do is leave it there.

The arrangement method of the tiles Tij on the wall panel Pw is assumed to be a rectangular matrix with n rows and m columns.

When the device Jf is in operation, first, a pallet (Pt) on which a wall panel Pw as a workpiece is placed and set in the normal position 8 (that is, squarely aligned with the reference point Pa) is moved to a cart waiting at the original position shown in FIG. On the Tr, with the vertical edge of length Yp facing the Y direction,
The load is turned on, and the bin Pn is placed against the receiving frame Ftr of the trolley Tr.
...is positioned and held. At this time, the carrier Cr is moved back to its original position in the −Y force direction from the position shown in FIG. 4 (that is, as shown in FIG.
The Y coordinate of 4 is the first to fourth horizontal joint line J of wall panel Pw
(positions that are equal to the Y coordinates of XI to JX4).

It is on standby while circulating the Toro to each line Lcl-Lc4. From now on, Gun G! The horizontal position of 1l-Gn4 is represented by the position of common base 6, and the reversal device is set to Cbo.
Indicated by

Next, the wire drive @ @ D w operates to move the trolley Tr along the track Tr and the gate frame Fg2.
Move it forward downward.

Then, the five tile sensors 1 to 5 on the -X side as seen from Trogan Gnl to Gn4 will cause the panel Pw to be ÷XX.
The corresponding tiles T1m to T5m on the side vertical edge are detected,
The detection signal is sent to the control system Sc as a first run start signal and processed.

Then, air on and air off signals corresponding to the air cylinders Ca1 to Ca4 and each pinch valve Vp are transmitted, and a speed control command signal is transmitted to the step motor Ms of the drive mechanism Cw, respectively, to control the guns Gnl to Gn4 at a predetermined position. Lower the gun tip G to the Z coordinate as shown in Figure 3 (B).
t is made to closely face the horizontal joint lines Jxl to Jx4, and the pinch valve Vp is opened to start the injection of toro, and at the same time, the trolley Tr is made to move forward at a constant speed. The gun position at this time is indicated by Cbl (=Cbo) in the figure.

Thus, horizontal joint line J! 1- J
Pair of sensors q on the dew removal side of p (p=1 to 4),
q+1 (q=p) is longer than the predetermined lag time
If 11 to T41 are not lost, this tile undetected state is sent to the control system Sc as a sign of the end of the first run and is processed.

Then, a stop signal is sent to the step motor Ms, and the cart Tr moves so that the edges of the tiles T11 to T41 and X91J are slightly ◆ from x=0 (i.e., the position of the gun center line).
It runs inertia until it goes too far to the X side and stops. In addition, Air On, Air
Each pinch valve Vp is closed by the off signal, and the air cylinder 〇al=Ca4 is operated to move the guns Gnl to Gn4 upward, and then.

Carrier Cr starts moving in the ◆Y force direction.

When this amount of movement reaches 4XMOmm, the carrier Cr stops at that position and the step motor Ms starts rotating in reverse. The gun position at this time is indicated by Cb2 in the figure.

Then, in the first run, each gun Gnp (p=
The pair of sensors q", q'+1 (q=p) on the +X side, which was in the position of following 1 to 4), became a dew cleaner and hit the tiles T51 to T91, as shown in Figure 3 (C). detect,
Cylinders Ca1-Ca4 operate again and the gun Gnl~
Gn4 is lowered, each pinch valve Vp is opened, and horizontal joint lines Jx5 to Jx8 are filled in as a second run.

In this way, 4 lines of 1Jxi are filled in each side joint i in reverse direction, and when all n lines are not a multiple of 4, that is, as shown in Fig. 3 (E), the final run gun At position Cbf, there are less than 4 wires (in the illustrated example, J
x(n-3), J x(n-2), J x(
n-1), as a general rule, the pair of sensors on the dew removal side (in this case, the pair of sensors 1, 2, 2, 3; 3° 4)
as long as they both detect the tile, the corresponding gun (Gn
1, Gn2, Gn3), and therefore, if at least one of the pair of dew removal side sensors (in this case, a pair of sensors 4.5) (sensor 5y loses sight of the tile Tij), the corresponding gun ( G n4
), the toro is injected and shut off by closing the pinch valve Vp, and after the horizontal joint final run is completed, the carrier Cr is returned to the vertical joint reversal device (therefore, the gun position becomes Cbo = Cbl again). Along with the step motor Ms
is rotated in the forward direction to advance the trolley Tr below the gate frame Fgl.

When the trolley Tr comes to a fixed position below the gate frame Fgl, a limit switch (not shown) detects this, the step motor Ms stops, and the receiving arm Am of the direction change mechanism Dc...
- picks up the pallet pt, turns it horizontally by 90 degrees, and then lowers it onto the trolley Tr again. As a result, the arrangement of the tiles Tij on the wall panel Pw is changed to the previous transposed matrix, that is, m rows and n
The vertical joint lines Jyj and the horizontal joint lines Jxi switch directions.

Next, the step motor Ms is reversely rotated, and the trolley Tr is rearwardly moved below the gate frame Fg2, as shown in FIG. 3(F).
As seen in the tiles T In , T I(n-1)
.

T 1 (n-2), T 1 (!1-3), T
1(n-4) is detected by sensor 1'~5°, and this time, vertical joint lines J y (a-1), J te (+++-2), J y (m-3) are horizontally oriented. , J y(
+e-4), the first run of filling the joint progresses.

Then, similarly to the case of the horizontal joint line Jxi, four vertical joint lines Jyj are sequentially filled, and as shown in FIG. 3(G), a final run position Cbf that covers the vertical joint line Jyl is reached.
When the joint filling is completed at ', the carrier Cr returns to its original position, and the joint filling process of the wall panel Pw is substantially completed.

After that, move the pallet PL and the panel P from the rear end of the machine frame 2.
It is simply sent to the next process along with w.

In this embodiment, five tile sensors 1 to 5 or 1 are installed on the −X side and the X side of Torogan Gnl to Gn4.
By commonly deploying the angle between ° and 5° at a pitch Mo (to be precise, a joint line pitch) that is approximately equal to the side dimension of the standard size tile (α=1.β=1), four pairs of sensors 1, 2;
, 3; 3, 4; 4, 5 or 1', 2', 2'
, 3"; 3°, 4°; 4', 5°, but it will be obvious if you consider replacing it when applying it to a wide tile (α>1 or β>1). If you are willing to increase the number of sensors, as in You can do it like this.

Furthermore, when using a detection element that does not require much consideration of the angle at which it faces the detection target, it is clear that any arrangement method can be adopted as long as the tile surfaces on both sides of the joint line are to be detected. Dew.

(Effects of the Invention) As is clear from the above explanation, according to the present invention, the existence of a joint line between tiles is recognized by detecting the tiles on both sides of the joint line, so that it is possible to automate the joint line recognition process. , the cost burden of hardware, especially the detection mechanism, is reduced.

[Brief explanation of the drawing]

The drawings show an embodiment in which the present invention is applied to a wall panel joint filling device. Figure 1 is a cross-sectional view of the detection mechanism of the joint line recognition system, Figure 2 is a continued #tc diagram of the recognition circuit, and Figure 2 is a cross-sectional view of the detection mechanism of the joint line recognition system. 3(A) to 3(G) are action explanatory views, FIG. 4 is a plan view of the joint filling device, and FIG. 5 is a side view of the same. In addition, 1 to 5 in Figure 1. 1° to 5゛, tile sensor 6 is a common base, 7 to 11 is a select switch, 12 is its synchronization means, 13 to 16 is an AND circuit, Dt is a detection mechanism,
Gnl-Ga4 is Trogan, Jf is joint filling device, J
xi and Jyj are joint lines, Pw is a wall panel, Sr is a joint line recognition system, and Tij. Ti'j; Tij and Tij' represent tiles on both sides of the joint line.

Claims (3)

[Claims] (1) A joint line recognition system that recognizes the existence of joint lines between tiles by detecting tiles on both sides of the joint line. (2) A claim comprising a pair of sensors that separately detect tiles on both sides, and an information processing means that outputs a signal affirming the existence of the joint line on the condition that both sensors detect tiles. The joint line recognition system according to item 1. (3) Each of the sensors is constituted by an element that detects the presence of a corresponding tile by facing the tile surface from above, and the elements are separated from each other by a distance not exceeding the alignment pitch of the tiles. The joint line recognition system described in .