WO2021013261A1 - Control method, device, and tile laying system - Google Patents

Abstract

A control method, a device, and a tile laying system. The control method is used for at least controlling a tile laying robot to lay floor tiles. The tile laying robot comprises a pitch mechanism (90), a yaw adjustment mechanism (100) and a mechanical arm. The control method comprises: controlling a tile laying robot to grab a floor tile to be laid; controlling a pitch mechanism (90) and a yaw adjustment mechanism (100) to rotate, so that a predetermined surface of said floor tile is parallel to a slurry surface, and the predetermined surface is perpendicular to the thickness direction of said floor tile; controlling the mechanical arm to move such that the distance between said floor tile and an adjacent floor tile that has been laid is within a first predetermined range; and controlling the mechanical arm to move in height direction, so that the distance between said floor tile to be laid and the slurry surface in the height direction is within a second predetermined range. The control method enables a tile laying robot to automatically lay floor tiles quickly, improving the construction efficiency of tile laying, and improving the accuracy of tile laying by means of control.

Description

Control method, device and tile laying system

This disclosure is based on the patent document filed on July 25, 2019 with the application number 201910678371.8 and titled "Suction Cup Fixture and Its Control Method" and the patent document filed on July 25, 2019 with the application number 201910678476.3 and titled "Control Method" , Device, tile system, storage medium and processor" patent documents are priority documents, the entire contents of which are incorporated into this disclosure by reference.

Technical field

The present disclosure relates to the field of automation, and in particular to a control method, device and tile laying system.

Background technique

At present, there is no mature brick-laying robot solution for automatically laying floor tiles on the market, and the existing method of laying floor tiles is difficult to accurately lay the floor tiles, resulting in low laying efficiency.

The above information disclosed in the background technology section is only used to strengthen the understanding of the background technology of the technology described in this article. Therefore, the background technology may contain certain information, which is not formed in the country for those skilled in the art. Known prior art.

Summary of the invention

The main purpose of the present disclosure is to provide a control method, device and tile laying system to solve the problem that the tile laying robot in the prior art is difficult to accurately lay the floor tiles.

In order to achieve the above objective, according to one aspect of the present disclosure, a control method is provided for controlling at least a tile-laying robot to lay floor tiles. The tile-laying robot includes a pitch mechanism, a yaw adjustment mechanism, and a mechanical arm. The method includes : Control the tile-laying robot to grab the floor tiles to be laid; control the rotation of the pitch mechanism and the yaw adjustment mechanism so that the predetermined surface of the floor tiles to be laid is parallel to the slurry surface, and the predetermined surface is parallel to the slurry surface. The thickness direction of the floor tiles to be laid is vertical; the robot arm is controlled to move so that the distance between the tile gaps between the floor tiles to be laid and the adjacent floor tiles already laid is within a first predetermined range; the height of the robot arm is controlled Moving in the direction so that the distance between the floor tiles to be laid and the slurry surface in the height direction is within a second predetermined range.

Optionally, controlling the rotation of the pitch mechanism and the yaw adjustment mechanism so that the predetermined surface of the floor tile to be laid is parallel to the slurry surface includes: step A1, obtaining the floor tile to be laid relative to the X rotation axis And the first position information of the Y rotation axis; step A2, determine the pitch angle of the pitch mechanism and the yaw angle of the yaw adjustment mechanism according to the first position information; step A3, control the station according to the pitch angle The pitch mechanism is rotated, and the yaw adjustment mechanism is controlled to rotate according to the yaw angle.

Optionally, after the step A3, and in the case that the predetermined surface is not parallel to the slurry surface, the control of the pitch mechanism and the yaw adjustment mechanism to rotate, so that the to-be-layed The predetermined surface of the floor tile is parallel to the slurry surface, and further includes: repeating the step A1 to the step A3 in sequence until the predetermined surface of the floor tile to be laid is parallel to the slurry surface.

Optionally, the step A1 includes: receiving the first position information sent by an inclination sensor.

Optionally, before controlling the movement of the mechanical arm so that the distance between the tile gap between the floor tile to be laid and the adjacent floor tile that has been laid is within a first predetermined range, the method further includes: judging the Whether the floor tiles to be laid are within the field of view of multiple image capture devices; when the floor tiles to be laid are not in the field of view, the robot arm is controlled to move to move the floor tiles to be laid to the Within the field of view.

Optionally, controlling the movement of the mechanical arm so that the distance between the tile gaps between the floor tiles to be laid and the adjacent floor tiles that have been laid is within a first predetermined range includes: step C1, obtaining the floor tiles to be laid Relative to the second position information on the X-axis, Y-axis, and Z rotation axis; step C2, determine the X-direction movement path of the robotic arm on the X-axis and the location of the robotic arm according to the second position information The Y-direction movement path on the Y axis and the first Z-direction movement path of the mechanical arm on the Z rotation axis; step C3, according to the X-direction movement path, the Y-direction movement path, and the The Z-direction movement path controls the movement of the robotic arm.

Optionally, after the step C3, if the distance between the tiles is not within the first predetermined range, the robot arm is controlled to move, so that the floor tiles to be laid and the adjacent ones that have been laid are The tile gap distance between the floor tiles is within a first predetermined range, and the method further includes: repeating step C1 to step C3 in sequence until the tile gap distance is within the first predetermined range.

Optionally, the step C1 includes: receiving the second location information sent by a plurality of the image acquisition devices.

Optionally, controlling the mechanical arm to move in the height direction so that the distance between the floor tiles to be laid and the slurry surface in the height direction is within a second predetermined range, including: step D1, obtaining the waiting The third position information of the floor tiles relative to the Z axis; step D2, the second Z-direction movement path of the robot arm on the Z axis is determined according to the third position information; step D3, the floor tiles to be laid are determined Whether there is a brick pressing phenomenon, the brick pressing phenomenon is that during the laying process part of the floor tiles to be laid will touch the surface of the already laid floor tiles; step D4, in the absence of the brick pressing phenomenon, according to The Z direction movement path controls the movement of the robot arm.

Optionally, the step D3 includes: controlling the line laser sensor to emit laser light in a predetermined reverse direction; receiving a reflected light signal of the laser; and judging whether the brick pressing phenomenon exists according to the reflected light signal.

Optionally, when the brick pressing phenomenon exists, the method further includes: controlling the movement of the mechanical arm until the brick pressing phenomenon does not exist.

Optionally, the step D1 includes: receiving the third position information sent by a Z-axis sensor group, the sensor group including a point laser sensor and a PSD sensor.

Optionally, the slurry surface is a mortar surface.

According to another aspect of the present disclosure, there is provided a control device for controlling at least a tile-laying robot to lay floor tiles. The tile-laying robot includes a pitch mechanism, a yaw adjustment mechanism, and a mechanical arm. The device includes: a first control Unit for controlling the tile-laying robot to grab the floor tiles to be laid; the second control unit for controlling the rotation of the pitch mechanism and the yaw adjustment mechanism so that the predetermined surface of the floor tiles to be laid is relative to the slurry The surface is parallel, the predetermined surface is perpendicular to the thickness direction of the floor tiles to be laid; the third control unit is used to control the movement of the mechanical arm so that the floor tiles to be laid are between the adjacent floor tiles that have been laid. The distance between the brick gaps is within the first predetermined range; the fourth control unit is used to control the mechanical arm to move in the height direction so that the distance between the floor tiles to be laid and the slurry surface in the height direction is in the second Within the predetermined range.

Optionally, the slurry surface is a mortar surface.

According to another aspect of the present disclosure, there is provided a tile laying system, including a tile laying robot, the tile laying robot includes an industrial computer, and the industrial computer is used to execute any of the control methods.

Optionally, the tile-laying robot further includes: a suction cup fixture, including a main body and a suction cup, the main body includes a first surface and a second surface, the suction cup is located on the second surface; an inclination sensor is provided on the On the first surface, the inclination sensor is used to obtain the first position information of the floor tiles to be laid relative to the X rotation axis and the Y rotation axis; the Z axis sensor group is arranged on the first surface and is related to the inclination angle The sensors are arranged at intervals, and the Z-axis sensor group includes a plurality of Z-axis sensors and is used to obtain third position information of the floor tiles to be laid relative to the Z-axis.

Optionally, there are two Z-axis sensors, and they are a point laser sensor and a PSD sensor. The system also includes a laser line-casting instrument, which is used to emit laser light for the Z-axis sensor group The measurement provides a reference plane.

Optionally, the tile-laying robot further includes: a body; a fixed frame connected to the body; a plurality of image acquisition devices arranged on the fixed frame, and the image acquisition device is used to acquire the floor tiles to be laid Relative to the second position information on the X axis, Y axis, and Z rotation axis.

Optionally, the tile laying robot further includes: a pitching mechanism arranged on the first surface, the pitching mechanism being used to adjust the angle between the predetermined surface of the floor tile to be laid and the slurry surface; A yaw adjustment mechanism is arranged on the first surface, and the yaw adjustment mechanism is used to adjust the angle between the predetermined surface of the floor tile to be laid and the slurry surface.

Applying the technical solution of the present disclosure, in the above-mentioned control method, first, the tile-laying robot is controlled to grab the floor tiles to be laid; then, the pitch mechanism and the yaw adjustment mechanism are controlled to rotate so that the predetermined surface of the floor tiles to be laid Parallel to the slurry surface; then, control the movement of the robotic arm so that the distance between the tile gap between the floor tiles to be laid and the adjacent floor tiles already laid is within a first predetermined range; finally, the machine is controlled The arm moves in the height direction so that the distance between the floor tile to be laid and the slurry surface in the height direction is within a second predetermined range. Through the above steps, the tile-laying robot can automatically lay the floor tiles quickly, which improves the construction efficiency of tile-laying, and improves the accuracy of tile-laying through control.

Description of the drawings

The accompanying drawings of the specification constituting a part of the present disclosure are used to provide a further understanding of the present disclosure, and the exemplary embodiments and descriptions thereof are used to explain the present disclosure, and do not constitute an improper limitation of the present disclosure. In the attached picture:

Fig. 1 shows a schematic flowchart of an embodiment of a control method according to the present disclosure;

Figure 2 shows a schematic diagram of the detection principle of the brick pressing phenomenon;

Fig. 3 shows a schematic diagram of the acquisition principle of the second Z-direction movement path;

Fig. 4 shows a schematic structural diagram of an embodiment of a control device according to the present disclosure;

Figure 5 shows a schematic diagram of a partial structure of a paving system of the present disclosure; and

Figures 6 to 8 show schematic structural diagrams of a paving system of the present disclosure.

Among them, the above drawings include the following reference signs:

10. Suction cup fixture; 20. Inclination sensor; 30. Point laser sensor; 40. PSD sensor; 50. Laser line meter; 60. Body; 70. Fixed frame; 80. Image acquisition equipment; 90. Pitch mechanism; 100. Yaw adjustment mechanism; 11. Suction cup; 110, vibration flat structure; 120, spring mechanism.

Detailed ways

It should be noted that the embodiments in the present disclosure and the features in the embodiments can be combined with each other if there is no conflict. Hereinafter, the present disclosure will be described in detail with reference to the drawings and in conjunction with embodiments.

In order to enable those skilled in the art to better understand the solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only They are a part of the embodiments of the present disclosure, but not all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work should fall within the protection scope of the present disclosure.

It should be noted that the terms "first" and "second" in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances for the purposes of the embodiments of the present disclosure described herein. In addition, the terms "including" and "having" and any variations of them are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to the clearly listed Those steps or units may include other steps or units that are not clearly listed or are inherent to these processes, methods, products, or equipment.

It should be understood that when an element (such as a layer, film, region, or substrate) is described as being "on" another element, the element can be directly on the other element, or intervening elements may also be present. Moreover, in the specification and claims, when it is described that an element is "connected" to another element, the element can be "directly connected" to the other element, or "connected" to the other element through a third element.

As mentioned in the background art, it is difficult for the tile laying robot in the prior art to accurately lay the floor tiles. In order to solve this problem, the present disclosure provides a control method, device, laying system, storage medium and processor.

According to an embodiment of the present disclosure, a control method is provided.

Fig. 1 is a flowchart of a control method according to an embodiment of the present disclosure. As shown in Fig. 1, this method is used to control at least a tile-laying robot to lay floor tiles. The tile-laying robot includes a pitch mechanism, a yaw adjustment mechanism and a mechanical arm, and includes the following steps:

Step S101, controlling the above-mentioned tile laying robot to grab the floor tiles to be laid;

Step S102, controlling the rotation of the pitching mechanism and the yaw adjustment mechanism so that the predetermined surface of the floor tile to be laid is parallel to the slurry surface, and the predetermined surface is perpendicular to the thickness direction of the floor tile to be laid;

Step S103, controlling the movement of the above-mentioned mechanical arm, so that the distance between the above-mentioned floor tiles to be laid and the adjacent floor tiles already laid is within a first predetermined range;

In step S104, the robot arm is controlled to move in the height direction so that the distance between the floor tiles to be laid and the slurry surface in the height direction is within a second predetermined range.

In the above control method, firstly, control the tile-laying robot to grab the floor tiles to be laid; then, control the rotation of the pitch mechanism and the yaw adjustment mechanism so that the predetermined surface of the floor tiles to be laid is parallel to the slurry surface; then, control The mechanical arm moves so that the distance between the tile gaps between the floor tiles to be laid and the adjacent floor tiles that have been laid is within a first predetermined range; finally, the mechanical arm is controlled to move in the height direction to make the floor tiles to be laid The distance from the slurry surface in the height direction is within a second predetermined range. Through the above steps, the tile-laying robot can automatically lay the floor tiles quickly, which improves the construction efficiency of tile-laying, and improves the accuracy of tile-laying through control.

It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical sequence is shown in the flowchart, in some cases, The steps shown or described can be performed in a different order than here.

In a specific embodiment of the present application, the above-mentioned slurry surface is a mortar surface.

"Controlling the rotation of the above-mentioned pitching mechanism and the above-mentioned yaw adjustment mechanism so that the predetermined surface of the floor tiles to be laid is parallel to the slurry surface" can be achieved through any feasible steps in the prior art, and those skilled in the art can follow the actual situation Choose the appropriate steps to achieve the above process. In an embodiment of the present disclosure, controlling the rotation of the pitching mechanism and the yaw adjustment mechanism so that the predetermined surface of the floor tile to be laid is parallel to the slurry surface includes: step A1, obtaining the relative position of the floor tile to be laid The first position information of the X rotation axis and the Y rotation axis. The first position information includes not only the position information of the floor tiles to be laid relative to the X rotation axis, but also the position information of the floor tiles to be laid relative to the Y rotation axis; step A2, according to The first position information determines the pitch angle of the pitch mechanism and the yaw angle of the yaw adjustment mechanism; step A3, control the rotation of the pitch mechanism according to the pitch angle, and control the rotation of the yaw adjustment mechanism according to the yaw angle. The method in this embodiment can adjust the position of the floor tiles more accurately, and has higher efficiency.

After the above step A3, it is possible that the predetermined surface is not parallel to the slurry surface. In this case, the control of the pitch mechanism and the yaw adjustment mechanism rotates so that the predetermined surface of the floor tiles to be laid is relatively Parallel to the slurry surface also includes: repeating the above step A1 to the above step A3 in sequence until the predetermined surface of the floor tile to be laid is parallel to the slurry surface. This further ensures that the predetermined surface of the floor tile remains level relative to the slurry surface.

The first location information of the present disclosure can be obtained in any feasible manner, and those skilled in the art can select a suitable device or a suitable method to obtain the first location information according to the actual situation. In an embodiment of the present disclosure, the foregoing step A1 includes: receiving the foregoing first position information sent by an inclination sensor. Obtaining the first position information through the inclination sensor can not only quickly obtain the first position information, but also can further ensure the accuracy of the first position information, and this method is relatively simple, and only requires an inclination sensor to be installed on the paving robot.

In another embodiment of the present disclosure, the above step A1 includes: receiving the first position information sent by the PSD sensor, that is, the first position information includes two parts, one is sent by the tilt sensor, and the other is sent by the PSD sensor. In this way, the pitch angle of the pitch mechanism and the yaw angle of the yaw adjustment mechanism can be further accurately determined according to the data sent by the PSD sensor, and then the pitch mechanism and the yaw adjustment mechanism can be further accurately adjusted according to these data, so that the waiting The predetermined surface of the floor tiles is parallel to the slurry surface.

In order to lay the floor tiles more efficiently and accurately, in an embodiment of the present disclosure, the movement of the robot arm is controlled so that the distance between the floor tiles to be laid and the adjacent floor tiles already laid is within a first predetermined range. Previously, the above method also includes: judging whether the floor tiles to be laid are within the field of view of multiple image acquisition devices; when the floor tiles to be laid are not within the field of view, controlling the movement of the robot arm to move the floor tiles to be laid The floor tiles move to the above-mentioned field of view.

The “controlling the movement of the above-mentioned robotic arm so that the distance between the tile gaps between the above-mentioned floor tiles to be laid and the adjacent floor tiles already laid within a first predetermined range” of the present disclosure can be implemented through any feasible steps. One aspect of the present disclosure In an embodiment, controlling the movement of the aforementioned mechanical arm so that the distance between the brick gap between the aforementioned floor tile to be laid and the adjacent floor tile that has already been laid is within a first predetermined range includes: Step C1, obtaining the relative position of the aforementioned floor tile to be laid The second position information on the X axis, the Y axis and the Z rotation axis. Similarly, the second position information includes the position information of the floor tiles to be laid relative to the X axis, the position information of the floor tiles to be laid relative to the Y axis, and the relative position of the floor tiles to be laid. The position information on the Z rotation axis; step C2, according to the second position information, determine the X direction movement path of the robot arm on the X axis, the Y direction movement path of the robot arm on the Y axis, and the robot arm at The first Z direction movement path on the Z rotation axis; step C3, the movement of the robot arm is controlled according to the X direction movement path, the Y direction movement path, and the Z direction movement path.

In order to further ensure that the brick gap distance is within the first predetermined range, in an embodiment of the present disclosure, after step C3, if the brick gap distance is not within the first predetermined range, control the The robot arm moves so that the distance between the tile gap between the floor tile to be laid and the adjacent floor tile that has been laid is within a first predetermined range, and the method further includes: repeating the above step C1 to the above step C3 in sequence until the tile gap distance is within the Within the above first predetermined range.

The second location information of the present disclosure can be obtained by any feasible method or device, and those skilled in the art can select a suitable device or method according to the actual situation. In a specific embodiment of the present disclosure, the foregoing step C1 includes: receiving the foregoing second location information sent by a plurality of the foregoing image capturing devices.

The above “controlling the movement of the mechanical arm in the height direction so that the distance between the floor tiles to be laid and the slurry surface in the height direction is within a second predetermined range” can be achieved by any feasible method, and those skilled in the art can Choose the appropriate steps according to the actual situation to realize the process. In an embodiment of the present disclosure, controlling the robot arm to move in the height direction so that the distance between the floor tiles to be laid and the slurry surface in the height direction is within a second predetermined range includes: step D1, obtaining the above The third position information of the floor tiles to be laid relative to the Z axis; step D2, according to the third position information, determine the second Z direction movement path of the robot arm on the Z axis; step D3, determine whether the floor tiles to be laid are under pressure Brick phenomenon, the above-mentioned brick pressing phenomenon is that during the laying process, part of the above-mentioned floor tiles to be laid will touch the surface of the above-mentioned already laid floor tiles; step D4, in the case of no brick pressing phenomenon, control according to the above-mentioned Z-direction movement path The above-mentioned mechanical arm moves to complete the laying of floor tiles. In this method, the detection of the brick pressing phenomenon is added during the process, so that the final laying accuracy is higher.

In order to more efficiently determine whether the brick pressing phenomenon is stored according to the movement path, in an embodiment of the present disclosure, the above step D3 includes: controlling the line laser sensor to emit laser light in a predetermined reverse direction; receiving the reflected light signal of the laser light; The reflected light signal judges whether there is the brick pressing phenomenon. As shown in Figure 2, when there is no brick pressing phenomenon, the reflected light new signal includes three parts, and when there is a brick pressing phenomenon, the reflected light includes two parts. Therefore, it can be judged whether there is a brick pressing phenomenon according to the reflected light signal.

In order to further ensure that the floor tiles to be laid are accurately laid in the predetermined area, in an embodiment of the present disclosure, the step D1 includes: receiving the third position information sent by the Z-axis sensor group, the sensor group including a point laser sensor and a PSD sensor .

In fact, the above step D1 includes: receiving the total distance D, which is the distance between the global standard ground and the reference plane determined by the laser line meter; receiving the first distance D'of the PSD sensor, the first distance being the distance between the PSD sensor and the reference plane The distance between the reference planes; the second distance L for receiving the point laser sensor, the second distance is the distance between the point laser sensor and the floor tiles to be laid, where, as shown in Figure 3, the point laser sensor and the PSD sensor are located on the same plane (Same height), so the second distance is also the distance between the PSD sensor and the floor tiles to be laid; finally, the third position information is calculated at least according to the total distance, the first distance and the second distance. For the structure in Figure 3 , The third location information, that is, the distance between the tile to be laid and the global standard ground on the Z axis=D-D'-L. Of course, when the point laser sensor and the PSD sensor are not located on the same plane, the third position information needs to be calculated according to the distance between the point laser sensor and the PSD sensor on the Z axis. The suction cup holder 10 is also shown in FIG. 3.

The embodiment of the present disclosure also provides a control device. It should be noted that the control device of the embodiment of the present disclosure can be used to execute the control method provided by the embodiment of the present disclosure. The control device provided by the embodiment of the present disclosure will be introduced below.

Fig. 4 is a schematic diagram of a control device according to an embodiment of the present disclosure. As shown in Fig. 4, the device is used to control at least a tile-laying robot to lay floor tiles. The tile-laying robot includes a pitch mechanism, a yaw adjustment mechanism and a mechanical arm. The above-mentioned device includes:

The first control unit 200 is used to control the above-mentioned tile laying robot to grab the floor tiles to be laid;

The second control unit 300 is configured to control the rotation of the pitch mechanism and the yaw adjustment mechanism so that the predetermined surface of the floor tile to be laid is parallel to the slurry surface, and the predetermined surface is perpendicular to the thickness direction of the floor tile to be laid;

The third control unit 400 is used to control the movement of the above-mentioned mechanical arm so that the distance between the tile joints between the above-mentioned floor tiles to be laid and the adjacent floor tiles already laid is within a first predetermined range;

The fourth control unit 500 is used to control the movement of the mechanical arm in the height direction so that the distance between the floor tiles to be laid and the slurry surface in the height direction is within a second predetermined range.

In the above-mentioned control device, the first control unit controls the tile-laying robot to grab the floor tiles to be laid; the second control unit controls the rotation of the above-mentioned pitching mechanism and the above-mentioned yaw adjustment mechanism so that the predetermined surface of the above-mentioned floor tiles to be laid is parallel to the slurry surface The third control unit controls the movement of the robot arm so that the distance between the tile gap between the floor tiles to be laid and the adjacent floor tiles already laid is within a first predetermined range; the fourth control unit controls the robot arm in the height direction Move so that the distance between the floor tiles to be laid and the slurry surface in the height direction is within a second predetermined range. Through the above-mentioned control unit, the tile-laying robot can automatically lay the floor tiles quickly, which improves the construction efficiency of tile-laying, and improves the accuracy of tile-laying through control.

In a specific embodiment of the present application, the above-mentioned slurry surface is a mortar surface.

The "second control unit" can be implemented by any feasible steps in the prior art, and those skilled in the art can select appropriate steps according to actual conditions to implement the above process. In an embodiment of the present disclosure, the above-mentioned control unit includes a first acquisition module, a first determination module, and a first control module, wherein the first acquisition module is used to acquire the above-mentioned floor tiles to be laid relative to the X rotation axis and Y rotation The first position information of the axis, the first position information includes not only the position information of the floor tiles to be laid relative to the X rotation axis, but also the position information of the floor tiles to be laid relative to the Y rotation axis; the first determining module is used to The position information determines the pitch angle of the pitch mechanism and the yaw angle of the yaw adjustment mechanism; the first control module controls the rotation of the pitch mechanism according to the pitch angle, and controls the rotation of the yaw adjustment mechanism according to the yaw angle. The device in this embodiment can more accurately adjust the position of the floor tiles, and has higher efficiency.

In the above solution, it is possible that the predetermined surface may not be parallel to the slurry surface. In this case, the second control unit further includes a second control module for controlling the first acquisition module and the first determination The module and the first control module are executed multiple times in sequence until the predetermined surface of the floor tiles to be laid is parallel to the slurry surface. This further ensures that the predetermined surface of the floor tile remains level relative to the slurry surface.

The first location information of the present disclosure can be obtained in any feasible manner, and those skilled in the art can select a suitable device or a suitable module to obtain the first location information according to the actual situation. In an embodiment of the present disclosure, the above-mentioned first acquisition module is configured to receive the above-mentioned first position information sent by an inclination sensor. Obtaining the first position information through the inclination sensor can not only quickly obtain the first position information, but also can further ensure the accuracy of the first position information, and this method is relatively simple, and only requires an inclination sensor to be installed on the paving robot.

In order to lay the floor tiles more efficiently and accurately, in an embodiment of the present disclosure, the above-mentioned device further includes a judgment unit and a fifth control unit. The judgment unit is used to control the movement of the above-mentioned mechanical arm so that the above-mentioned floor tiles to be laid and adjacent Before the tile gap distance between the floor tiles that have been laid is within the first predetermined range, it is determined whether the floor tiles to be laid are within the field of view of multiple image capture devices; the fifth control unit is used to determine whether the floor tiles to be laid are not in the field of view. If it is within the range, the robot arm is controlled to move to move the floor tiles to be laid within the visual range.

The third control unit of the present disclosure can be implemented through any feasible steps. In an embodiment of the present disclosure, the third control unit includes a second acquisition module, a second determination module, and a third control module, wherein the second acquisition The module is used to obtain the second position information of the above-mentioned floor tiles to be laid relative to the X axis, Y axis and Z rotation axis. Similarly, the second position information includes the position information of the floor tiles to be laid relative to the X axis, and the floor tiles to be laid relative to the X axis. The position information of the Y axis and the position information of the floor tiles to be laid relative to the Z rotation axis; the second determining module is used to determine the X-direction movement path of the robot arm on the X axis and the robot arm in the above The Y-direction movement path on the Y axis and the first Z-direction movement path of the robot arm on the Z rotation axis; the third control module is used to follow the X-direction movement path, the Y-direction movement path, and the Z-direction movement path Control the movement of the aforementioned robotic arm.

In order to further ensure that the distance between the bricks is within the first predetermined range, in an embodiment of the present disclosure, the third control unit further includes a fourth control module, configured to ensure that the distance between the bricks is not within the first predetermined range. In the case of internal, the second acquisition module, the second determination module, and the third control module are controlled to execute sequentially until the brick gap distance is within the first predetermined range.

The second location information of the present disclosure can be obtained by any feasible device or device, and those skilled in the art can select a suitable device or device according to the actual situation. In a specific embodiment of the present disclosure, the above-mentioned second acquisition module is further configured to receive the above-mentioned second position information sent by a plurality of the above-mentioned image acquisition devices.

The above-mentioned "fourth control unit" can be implemented by any feasible device, and those skilled in the art can select appropriate steps to implement the process according to actual conditions. In an embodiment of the present disclosure, the fourth control unit includes: a third acquisition module, a third determination module, a judgment module, and a fifth control module, wherein the third acquisition module is used to acquire the above-mentioned floor tiles to be laid relative to the Z axis The third position information; the third determining module is used to determine the second Z-direction movement path of the robot arm on the Z-axis according to the third position information; the determining module is used to determine whether the floor tiles to be laid have a brick pressing phenomenon, The above-mentioned brick pressing phenomenon is that during the laying process, part of the above-mentioned floor tiles to be laid will be contacted and located on the surface of the above-mentioned already laid floor tiles; the fifth control module controls the above-mentioned machinery according to the above-mentioned Z-direction movement path when there is no brick pressing phenomenon. The arm moves to complete the laying of floor tiles. In the process of the device, the detection of the brick pressing phenomenon is added, which makes the final laying accuracy higher.

In order to more efficiently determine whether to store the brick pressing phenomenon when moving according to the moving path, in an embodiment of the present disclosure, the determining module is also used to control the line laser sensor to emit laser light in a predetermined reverse direction; to receive the reflected light signal of the laser light; The reflected light signal judges whether there is the brick pressing phenomenon. As shown in Figure 2, when there is no brick pressing phenomenon, the reflected light new signal includes three parts, and when there is a brick pressing phenomenon, the reflected light includes two parts. Therefore, it can be judged whether there is a brick pressing phenomenon according to the reflected light signal.

In order to further ensure that the floor tiles to be laid are accurately laid in the predetermined area, in an embodiment of the present disclosure, the third acquisition module is configured to receive the third position information sent by the Z-axis sensor group, and the sensor group includes a point laser sensor and PSD sensor.

In fact, the third acquisition module includes a first receiving sub-module, a second receiving sub-module, a third receiving sub-module, and a calculation sub-module, wherein the first receiving sub-module is used to receive the total distance D, which is the global standard ground The distance between the PSD sensor and the reference plane determined by the laser line meter; the second receiving submodule receives the first distance D'of the PSD sensor, and the first distance is the distance between the PSD sensor and the reference plane; the third receiving submodule uses At the second distance L of the receiving point laser sensor, the second distance is the distance between the point laser sensor and the floor tiles to be laid. As shown in Figure 3, the point laser sensor and the PSD sensor are located on the same plane (the same height), so , The second distance is also the distance between the PSD sensor and the floor tiles to be laid; the calculation sub-module is used to calculate the third position information at least according to the total distance, the first distance and the second distance. For the structure in Figure 3, the third Position information, that is, the distance between the tile to be laid and the global standard ground on the Z axis = D-D'-L. Of course, when the point laser sensor and the PSD sensor are not located on the same plane, the third position information needs to be calculated according to the distance between the point laser sensor and the PSD sensor on the Z axis.

The above-mentioned control device includes a processor and a memory. The above-mentioned first control unit, second control unit, third control unit, and fourth control unit are all stored in the memory as program units, and the above-mentioned program stored in the memory is executed by the processor. Unit to realize the corresponding function.

The processor contains the kernel, which calls the corresponding program unit from the memory. The kernel can be set to one or more, by adjusting the kernel parameters to accurately lay the floor tiles.

The memory may include non-permanent memory in computer-readable media, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one Memory chip.

The embodiment of the present disclosure provides a storage medium on which a program is stored, and the program is executed by a processor to implement the above control method.

The embodiments of the present disclosure provide a processor, and the above-mentioned processor is used for running a program, wherein the above-mentioned control method is executed when the above-mentioned program is running.

The embodiments of the present disclosure provide a device that includes a processor, a memory, and a program stored on the memory and capable of running on the processor, and the processor implements at least the following steps when executing the program:

Step S101, controlling the above-mentioned tile laying robot to grab the floor tiles to be laid;

Step S102, controlling the rotation of the pitching mechanism and the yaw adjustment mechanism so that the predetermined surface of the floor tile to be laid is parallel to the slurry surface, and the predetermined surface is perpendicular to the thickness direction of the floor tile to be laid;

Step S103, controlling the movement of the above-mentioned mechanical arm, so that the distance between the above-mentioned floor tiles to be laid and the adjacent floor tiles already laid is within a first predetermined range;

In step S104, the robot arm is controlled to move in the height direction so that the distance between the floor tiles to be laid and the slurry surface in the height direction is within a second predetermined range.

The devices in this article can be servers, PCs, PADs, mobile phones, etc.

The present disclosure also provides a computer program product, which when executed on a data processing device, is suitable for executing a program that initializes at least the following method steps:

Step S101, controlling the above-mentioned tile laying robot to grab the floor tiles to be laid;

Step S102, controlling the rotation of the pitching mechanism and the yaw adjustment mechanism so that the predetermined surface of the floor tile to be laid is parallel to the slurry surface, and the predetermined surface is perpendicular to the thickness direction of the floor tile to be laid;

Step S103, controlling the movement of the above-mentioned mechanical arm, so that the distance between the above-mentioned floor tiles to be laid and the adjacent floor tiles already laid is within a first predetermined range;

In step S104, the robot arm is controlled to move in the height direction so that the distance between the floor tiles to be laid and the slurry surface in the height direction is within a second predetermined range.

Those skilled in the art should understand that the embodiments of the present disclosure can be provided as methods, systems, or computer program products. Therefore, the present disclosure may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

The present disclosure is described with reference to flowcharts and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing equipment to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing equipment are generated It is a device that realizes the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device. The device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment. The instructions provide steps for implementing functions specified in a flow or multiple flows in the flowchart and/or a block or multiple blocks in the block diagram.

In a typical configuration, the computing device includes one or more processors (CPU), input/output interfaces, network interfaces, and memory.

The memory may include non-permanent memory in a computer readable medium, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices. According to the definition in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

In another exemplary embodiment of the present disclosure, a tile laying system is provided. The system includes a tile laying robot. The tile laying robot includes an industrial computer, and the industrial computer is used to perform any method.

Because the tile laying system includes the above-mentioned industrial computer, the tile laying efficiency of the system is high, and the floor tiles can be laid accurately.

In order to adjust the position of the floor tiles to be laid more conveniently and efficiently, in an embodiment of the present disclosure, as shown in FIG. 5, the above-mentioned tile laying robot further includes: a suction cup fixture 10, an inclination sensor 20, and a Z-axis sensor group, and a suction cup fixture 10 It includes a main body and a suction cup 11. The main body includes a first surface and a second surface. The suction cup 11 is located on the second surface. The inclination sensor 20 is arranged on the first surface. The inclination sensor 20 is used to obtain the relative position of the floor tiles to be laid. For the first position information of the X rotation axis and the Y rotation axis, a suction cup is arranged on the second surface, and the suction cup is used to suck the floor tiles to be laid; the Z axis sensor group is arranged on the first surface and is spaced apart from the inclination sensor 20 It is provided that the Z-axis sensor group includes a plurality of Z-axis sensors and is used to obtain third position information of the floor tiles to be laid relative to the Z-axis.

In an embodiment of the present disclosure, there are two Z-axis sensors, as shown in FIG. 5, and they are a point laser sensor 30 and a PSD sensor 40 respectively. The above system further includes a laser line meter 50. 50 is used to emit laser light to provide a reference plane for the measurement of the above-mentioned Z-axis sensor group.

In another embodiment of the present disclosure, as shown in FIG. 6, the robot further includes a main body 60, a fixed frame 70, and a plurality of image capture devices 80. The fixed frame 70 is connected to the main body 60, and the suction cup holder 10 is located in the fixed frame. 70; a plurality of image acquisition devices 80 are arranged on the fixed frame 70, the image acquisition device 80 is used to obtain the second position information of the floor tiles to be laid relative to the X axis, the Y axis, and the Z rotation axis. Figures 7 and 8 show a schematic diagram of the three-dimensional structure of the tile laying system.

In order to adjust the floor tiles to be laid more accurately, as shown in FIG. 5, in an embodiment of the present disclosure, the above-mentioned tile-laying robot further includes a pitch mechanism 90 and a yaw adjustment mechanism 100, and the pitch mechanism 90 is arranged on the above-mentioned first surface. The pitch mechanism 90 is used to adjust the angle between the predetermined surface of the floor tiles to be laid and the slurry surface; the yaw adjustment mechanism 100 is provided on the first surface, and the yaw adjustment mechanism 100 is used to adjust the The angle between the predetermined surface of the floor tile and the aforementioned slurry surface.

In addition, the suction cup fixture in FIG. 5 also includes a vibrating flat structure 110 and a spring structure 120. The vibrating flat structure 110 is located on the above-mentioned second surface. The vibrating flat structure 110 is used to vibrate the brick to compact it when laying bricks; The structure 120 passes through the main body and is connected to the vibrating structure, and is used to reduce the vibration of the vibrating structure to the robot arm and the main body when the vibrating structure vibrates.

In an optional embodiment, the distance between the floor tile and the tile surface is continuously detected during the process of the suction cup clamp grabbing the floor tile and moving downward, and the tile surface may be a slurry surface. The above-mentioned preset distance can be 10mm. When the distance between the local brick and the paving surface is less than or equal to 10mm, start to control the vibration leveling structure and continue to control the movement of the floor tiles. While vibrating, press the bricks onto the mortar. When vibrating Will improve the fluidity of the mortar, thereby reducing the probability of hollowing.

Specifically, the suction cup clamp may include a plurality of vibrating structures, for example, four vibrating structures may be provided at the four corners of the second surface of the main body. In order to reduce the impact of the vibration of the vibrating structure on the mechanical arm and the suction cup fixture, the above solution is provided with a spring structure to absorb the vibration of the vibrating structure.

In an alternative embodiment, a vibration leveling structure can be connected to the main body of the suction cup fixture through a spring structure, or can be connected to the main body of the suction cup fixture through a plurality of spring structures, which can be specifically based on the contact between the vibration leveling structure and the floor tiles The size of the surface is determined.

It should also be noted that the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, product or equipment including a series of elements not only includes those elements, but also includes Other elements that are not explicitly listed, or include elements inherent to this process, method, commodity, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, commodity or equipment that includes the element.

Those skilled in the art should understand that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

From the above description, it can be seen that the above-mentioned embodiments of the present disclosure achieve the following technical effects:

1). In the control method of the present disclosure, first, the tile-laying robot is controlled to grab the floor tiles to be laid; then, the pitch mechanism and the yaw adjustment mechanism are controlled to rotate so that the predetermined surface of the floor tiles to be laid is parallel to the slurry surface ; Next, control the movement of the robot arm so that the distance between the tile gap between the floor tiles to be laid and the adjacent floor tiles that have been laid is within a first predetermined range; finally, the robot arm is controlled to move in the height direction to make The distance between the floor tiles to be laid and the slurry surface in the height direction is within a second predetermined range. Through the above steps, the tile-laying robot can automatically lay the floor tiles quickly, which improves the construction efficiency of tile-laying, and improves the accuracy of tile-laying through control.

2) In the control device of the present disclosure, the first control unit controls the tile-laying robot to grab the floor tiles to be laid; the second control unit controls the rotation of the above-mentioned pitch mechanism and the above-mentioned yaw adjustment mechanism, so that the predetermined surface of the above-mentioned floor tiles to be laid is relative to The slurry surface is parallel; the third control unit controls the movement of the robot arm so that the distance between the tile gaps between the floor tiles to be laid and the adjacent floor tiles already laid is within a first predetermined range; the fourth control unit controls the robot arm Move in the height direction so that the distance between the floor tiles to be laid and the slurry surface in the height direction is within a second predetermined range. Through the above-mentioned control unit, the tile laying robot can automatically lay the floor tiles quickly, which improves the construction efficiency of the tile laying, and improves the accuracy of the tile laying through control.

3) Since the tile laying system of the present disclosure includes the above-mentioned industrial computer, the tile laying efficiency of the system is high, and the floor tiles can be laid accurately.

The foregoing descriptions are only preferred embodiments of the present disclosure, and are not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims (20)

1. A control method, characterized in that it is used to control at least a tile-laying robot to lay floor tiles, the tile-laying robot includes a pitch mechanism, a yaw adjustment mechanism and a mechanical arm, and the method includes:

   Controlling the tile laying robot to grab the floor tiles to be laid;

   Controlling the rotation of the pitching mechanism and the yaw adjusting mechanism so that the predetermined surface of the floor tile to be laid is parallel to the slurry surface, and the predetermined surface is perpendicular to the thickness direction of the floor tile to be laid;

   Controlling the movement of the mechanical arm so that the distance between the tile gaps between the floor tiles to be laid and the adjacent floor tiles already laid is within a first predetermined range;

   The robot arm is controlled to move in the height direction so that the distance between the floor tiles to be laid and the slurry surface in the height direction is within a second predetermined range.
2. The method according to claim 1, wherein controlling the rotation of the pitch mechanism and the yaw adjustment mechanism so that the predetermined surface of the floor tile to be laid is parallel to the slurry surface, comprising:

   Step A1, acquiring first position information of the floor tiles to be laid relative to the X rotation axis and the Y rotation axis;

   Step A2, determining the pitch angle of the pitch mechanism and the yaw angle of the yaw adjustment mechanism according to the first position information;

   Step A3, controlling the rotation of the pitch mechanism according to the pitch angle, and controlling the rotation of the yaw adjustment mechanism according to the yaw angle.
3. The method according to claim 2, characterized in that, after the step A3, and in the case that the predetermined surface is not parallel to the slurry surface, the control of the pitch mechanism and the yaw The adjustment mechanism rotates so that the predetermined surface of the floor tiles to be laid is parallel to the slurry surface, and further includes:

   Repeat step A1 to step A3 in sequence until the predetermined surface of the floor tile to be laid is parallel to the slurry surface.
4. The method according to claim 2 or 3, wherein the step A1 comprises:

   Receiving the first position information sent by the inclination sensor.
5. The method according to claim 1, characterized in that, before controlling the movement of the mechanical arm so that the distance between the tile gap between the floor tile to be laid and the adjacent floor tile already laid is within a first predetermined range, The method also includes:

   Judging whether the floor tiles to be laid are within the field of view of multiple image acquisition devices;

   In the case that the floor tiles to be laid are not in the visual field, the robot arm is controlled to move to move the floor tiles to be laid in the visual field.
6. The method according to claim 5, wherein controlling the movement of the mechanical arm so that the distance between the tile gap between the floor tile to be laid and the adjacent floor tile that has already been laid is within a first predetermined range, comprising:

   Step C1, acquiring second position information of the floor tiles to be laid relative to the X axis, Y axis, and Z rotation axis;

   Step C2: Determine the X-direction movement path of the robotic arm on the X axis, the Y-direction movement path of the robotic arm on the Y axis, and the movement path of the robotic arm on the Y axis according to the second position information. The first Z direction movement path on the Z rotation axis;

   Step C3, controlling the movement of the mechanical arm according to the X-direction movement path, the Y-direction movement path, and the Z-direction movement path.
7. The method according to claim 6, characterized in that, after the step C3, if the distance between the tiles is not within the first predetermined range, the robot arm is controlled to move so that the The brick gap distance between the floor tiles to be laid and the adjacent floor tiles already laid is within the first predetermined range, and further includes:

   Repeat the step C1 to the step C3 in sequence until the gap between the bricks is within the first predetermined range.
8. The method according to claim 6 or 7, wherein the step C1 comprises:

   Receiving the second location information sent by a plurality of the image acquisition devices.
9. The method according to claim 1, wherein controlling the mechanical arm to move in the height direction so that the distance between the floor tiles to be laid and the slurry surface in the height direction is within a second predetermined range, include:

   Step D1, obtaining third position information of the floor tiles to be laid relative to the Z axis;

   Step D2, determining a second Z-direction movement path of the robotic arm on the Z axis according to the third position information;

   Step D3, judging whether there is a brick pressing phenomenon in the floor tiles to be laid, and the brick pressing phenomenon is that part of the floor tiles to be laid will touch the surface of the floor tiles already laid during the laying process;

   Step D4, under the condition that there is no brick pressing phenomenon, control the movement of the mechanical arm according to the movement path in the Z direction.
10. The method according to claim 9, wherein the step D3 comprises:

    The control line laser sensor emits a predetermined reverse laser;

    Receiving the reflected light signal of the laser;

    Determine whether the brick pressing phenomenon exists according to the reflected light signal.
11. The method according to claim 9, characterized in that, in the presence of the brick pressing phenomenon, the method further comprises:

    Control the movement of the mechanical arm until the brick pressing phenomenon does not exist.
12. The method according to claim 9 or 10, wherein the step D1 comprises:

    Receiving the third position information sent by a Z-axis sensor group, the sensor group including a point laser sensor and a PSD sensor.
13. The method according to claims 1 to 12, wherein the slurry surface is a mortar surface.
14. A control device, characterized in that it is used to control at least a tile-laying robot to lay floor tiles. The tile-laying robot includes a pitch mechanism, a yaw adjustment mechanism, and a mechanical arm. The device includes:

    The first control unit is used to control the tile laying robot to grab the floor tiles to be laid;

    The second control unit is used to control the rotation of the pitch mechanism and the yaw adjustment mechanism so that the predetermined surface of the floor tile to be laid is parallel to the slurry surface, and the predetermined surface is parallel to the thickness direction of the floor tile to be laid vertical;

    The third control unit is configured to control the movement of the mechanical arm so that the distance between the tile joints between the floor tiles to be laid and the adjacent floor tiles already laid is within a first predetermined range;

    The fourth control unit is used to control the mechanical arm to move in the height direction so that the distance between the floor tile to be laid and the slurry surface in the height direction is within a second predetermined range.
15. The control device according to claim 14, wherein the slurry surface is a mortar surface.
16. A tiling system, characterized by comprising a tiling robot, the tiling robot comprising an industrial computer, and the industrial computer is configured to execute the control method according to any one of claims 1 to 13.
17. The system according to claim 16, wherein the tile laying robot further comprises:

    A suction cup clamp, comprising a main body and a suction cup, the main body including a first surface and a second surface, and the suction cup is located on the second surface;

    An inclination sensor arranged on the first surface, and the inclination sensor is used to obtain first position information of the floor tiles to be laid relative to the X rotation axis and the Y rotation axis;

    The Z-axis sensor group is arranged on the first surface and spaced apart from the inclination sensor. The Z-axis sensor group includes a plurality of Z-axis sensors and is used to obtain the third position of the floor tile to be laid relative to the Z-axis. location information.
18. The system according to claim 17, characterized in that there are two Z-axis sensors, and they are a point laser sensor and a PSD sensor respectively, and the system further comprises a laser line-casting instrument, and the laser line-casting instrument is used for A laser is emitted to provide a reference plane for the measurement of the Z-axis sensor group.
19. The system according to claim 16, wherein the tile laying robot further comprises:

    Ontology

    A fixed frame, connected with the body;

    A plurality of image acquisition devices are arranged on the fixed frame, and the image acquisition devices are used to acquire the second position information of the floor tiles to be laid relative to the X axis, the Y axis and the Z rotation axis.
20. The system of claim 17, wherein the tile laying robot further comprises:

    A pitching mechanism arranged on the first surface, and the pitching mechanism is used to adjust the angle between the predetermined surface of the floor tiles to be laid and the slurry surface;

    A yaw adjustment mechanism is arranged on the first surface, and the yaw adjustment mechanism is used to adjust the angle between the predetermined surface of the floor tile to be laid and the slurry surface.

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