CN113482301B - Tile paving method and tile automatic paving control system - Google Patents

Abstract

The invention provides a tile paving method, and belongs to the technical field of automatic control. The method comprises the following steps: performing fixed-point path laser scanning operation on the reference brick paved at the reference position, and confirming the reference brick rn_rIs located in the robot coordinate system X_R‑Y_RA lower reference center coordinate; calculating the target center coordinate of the target position of the next ceramic tile to be paved according to the reference center coordinate, the relative line number, the relative column number, the ceramic tile side length and the ceramic tile distance; adsorbing one tile to be paved from the tile pile; performing the fixed-point route laser sweeping operation on the ceramic tile to be paved, and calculating the current center coordinate of the ceramic tile to be paved; calculating a pose vector of the tail end of the robot for executing the paving operation according to the target center coordinate, the current center coordinate and the compensation parameter; and executing the pose vector to ensure that the to-be-paved ceramic tile is paved to the target position corresponding to the target center coordinate. The invention also provides an automatic tile paving control system.

Description

Tile paving method and tile automatic paving control system

Technical Field

The invention relates to the technical field of automatic control, in particular to a tile paving method and a tile automatic paving control system.

Background

The tile is spread and pasted work is usually that the constructor is spread and pasted one by one, and the main points of weighing tile and spreading and pasting quality are accuracy and efficiency, because constructor's technical merit is uneven, and position accuracy, the roughness to the tile is spread and is pasted are difficult to the guarantee, and single scene is removed the brick, is spread the intensity of labour of brick big and loaded down with trivial details, and the constructor who is in the transport operation for a long time produces tiredly easily and causes the construction incident, and efficiency is not high.

Disclosure of Invention

In view of the above, the present invention provides a tile laying method and a tile automatic laying control system, which can automate tile laying work and improve tile laying accuracy and efficiency.

The technical scheme adopted by the embodiment of the invention for solving the technical problem is as follows:

a tile laying method comprising:

for the reference brick rn already laid on the reference position_rPerforming a fixed-point path laser scanning operation to confirm the reference brick rn_rIs located in the robot coordinate system X_R-Y_RCenter of reference coordinates of

According to the reference center coordinates

Relative line number

Relative number of rows

Side length a of ceramic tile_tAnd tile spacing w_gCalculating the next tile to be paved tn_tTarget center coordinates of the target position

The relative line number

For the ceramic tile to be spread tn_tRelative to the reference brick rn_rThe number of rows and the number of columns

For the ceramic tile to be spread tn_tRelative to the reference brick rn_rThe number of columns;

adsorbing one tile tn to be laid from the tile stack_t；

For the ceramic tile to be paved tn_tPerforming the laser scanning operation of the fixed-point route, and calculating the to-be-paved ceramic tile tn_tCurrent center coordinates of

According to the target center coordinates

The current center coordinate

And calculating a pose vector (rx) of the tail end of the robot for executing the paving operation by the compensation parameter_t1pp,ry_t1pp,rz_t1pp) The compensation parameter comprises a laser measuring head

In the robot coordinate system X_R-Y_RProjected on the plane X_RDistance of axis

Y_RDistance of axis

Also comprises a system error e caused by the integral installation deviation of the robot_x、e_y、e_rzAnd also comprises the reference brick rn_rThe plane and the tile to be paved tn_tZ-axis distance Z of the plane_t1c；

Executing the pose vector (rx)_t1pp,ry_t1pp,rz_t1pp) Making the tile to be tiled tn_tSpread to the target center coordinates

The corresponding target position.

Preferably, the pair has been laid down in a reference positionReference brick rn_rPerforming a fixed-point path laser scanning operation to confirm the reference brick rn_rIs located in the robot coordinate system X_R-Y_RCenter of reference coordinates of

The method comprises the following steps:

obtaining a laser track and the reference brick rn by laser sweeping of a fixed-point route_rCoordinates of four intersection points on the edge, wherein the intersection point p₁And point of intersection p₂Is positioned on the reference brick rn_rOn the first side of (1), the intersection point p₃And point of intersection p₄Is positioned on the reference brick rn_rThe first edge and the second edge intersect at the reference tile rn_rVertex n of_iSaid point of intersection p₁Has the coordinates of

The point of intersection p₂Has the coordinates of

The point of intersection p₃Has the coordinates of

The point of intersection p₄Has the coordinates of

According to the intersection point p₁And said intersection point p₂Calculating the straight line s on which the first edge is located₁Slope of (2)

The straight line s₁And said X_RAngle between axes

And the straight line s₁Intercept of

According to the intersection point p₃And said intersection point p₄Calculating the straight line s where the second edge is located₂Slope of (2)

The straight line s₂And said X_RAngle between axes

And the straight line s₂Intercept of

Calculating the vertex n_iCoordinates of (2)

According to the reference brick rn_rSide length a of_tCalculating the reference center coordinates

Preferably, said reference center coordinates

Relative line number

Relative number of rows

Side length a of ceramic tile_tAnd tile spacing w_gCalculating the next tile to be paved tn_tTarget center coordinates of the target position of

The calculation formula of (2) is as follows:

preferably, said pair of tiles to be laid tn_tPerforming the laser scanning operation of the fixed-point route, and calculating the to-be-paved ceramic tile tn_tCurrent center coordinates of

The method comprises the following steps:

obtaining a laser track and the to-be-paved ceramic tile tn by laser sweeping of a fixed point route_tCoordinates of four intersections on the edge, where intersection p'₁And intersection point p'₂Is positioned on the ceramic tile to be paved tn_tOn the first side of (2), intersection point p'₃And intersection point p'₄Is positioned on the ceramic tile to be paved tn_tOn the second side of said tile to be tiled tn_tAnd the tile to be tiled tn_tIs intersected with the tile to be tiled tn_tVertex n'_iOf said intersection p'₁Has the coordinates of

The intersection point p'₂Has the coordinates of

The intersection point p'₃Has the coordinates of

The intersection point p'₄Has the coordinates of

According to the intersection point p'₁And the intersection point p'₂Calculating the coordinates of said tile to be tiled tn_tS 'to the first side'₁Slope of (2)

The straight line s'₁And said X_RAngle between axes

And the straight line s'₁Intercept of

According to the intersection point p'₃And the intersection point p'₄Calculating the coordinates of said tile to be tiled tn_tS 'of the second side'₂Slope of (2)

The straight line s'₂And said X_RAngle between axes

And the straight line s'₂Intercept of

Calculating the vertex n'_iCoordinates of (2)

According to the ceramic tile to be paved tn_tSide length a of_tCalculating the current center coordinates

Preferably, said target center coordinates are based on

The current center coordinate

And calculating a pose vector (rx) of the tail end of the robot for executing the paving operation by the compensation parameter_t1pp,ry_t1pp,rz_t1pp) The method comprises the following steps:

x_t1pp＝x_t1c+x_l1tcp+(x′_t1c-x_l2tcp)-e_x

y_t1pp＝y_t1c+y_l1tcp+(y′_t1c-y_l2tcp)-e_y

z_t1pp＝z_t1c

rx_t1pp＝rx_r1p4

ry_t1pp＝ry_r1p4

rz_t1pp＝rz_r1p4+θ_r1s1-θ′_t1s1+e_rz

wherein, theta_r1s1Is the straight line s₁And said X_RAngle between the axes theta'_t1s1Is the straight line s'₁And said X_RAngle between axes, rx_r1p4Is the intersection point p₄At the X_RPose vector of axis, ry_r1p4Is the intersection point p₄At the Y_RPose vectors of the axes.

Preferably, the fixed-point course laser sweeping operation comprises:

according to the irregular stacking condition of a plurality of ceramic tiles, the formed ceramic tile stack is defined as one side length a_sWherein said a_sThe minimum value for the square area to adapt to any angle of the ceramic tile is as follows:

Δ₁+Δ₂＝a_s

Δ₁ ²+Δ₂ ²＝a_t ²

selecting 7 reference points L of point laser scanning track in a tile coordinate system₁、L₂、L₃、L₄、L₅、 L₆、L₇，

Wherein the point laser is at the reference point L₁And the reference point L₂In the course of the sweep through a first point of intersection on the tile edge, the point laser light from the reference point L₃Swept to the reference point L₄Passing through a second intersection point on the edge of the tile in the process, and point-laser-irradiating on the reference point L₄And the reference point L₅In the course of the sweep through a third point of intersection on the tile edge, the point laser light from the reference pointL₆Swept to the reference point L₇The first intersection point and the second intersection point are located on the first edge of the ceramic tile, the third intersection point and the fourth intersection point are located on the second edge of the ceramic tile, and the first edge and the second edge are adjacent edges;

making a pointing laser sweep path based on the 7 fiducial points;

sweeping the tile in the spot laser sweeping path.

The invention also provides a tile automatic paving control system, which comprises:

a reference center coordinate confirming module for confirming the reference brick rn laid on the reference position_rPerforming a fixed-point path laser scanning operation to confirm the reference brick rn_rIs located in the robot coordinate system X_R-Y_RCenter of reference coordinates of

A target center coordinate calculation module for calculating the reference center coordinate

Relative line number

Relative number of rows

Side length a of ceramic tile_tAnd tile spacing w_gCalculating the next tile to be paved tn_tTarget center coordinates of the target position of

The relative line number

For the ceramic tile to be spread tn_tRelative to the reference brick rn_rThe number of rows and the number of columns

For the ceramic tile to be spread tn_tRelative to the reference brick rn_rThe number of columns;

an execution module for adsorbing one tile tn to be laid from the tile stack_t；

A current central coordinate confirming module for the ceramic tile to be paved tn_tPerforming the laser scanning operation of the fixed-point route, and calculating the to-be-paved ceramic tile tn_tCurrent center coordinates of

A pose vector calculation module for calculating the coordinate of the target center

The current center coordinate

And calculating a pose vector (rx) of the tail end of the robot for executing the paving operation by the compensation parameter_t1pp,ry_t1pp,rz_t1pp) The compensation parameter comprises a laser measuring head

In the robot coordinate system X_R-Y_RProjected on the plane X_RDistance of axis

Y_RDistance of axis

Also comprises a system error e caused by the integral installation deviation of the robot_x、e_y、e_rzAnd also comprises the reference brick rn_rThe plane and the tile to be paved tn_tZ-axis distance Z of the plane_t1c；

The execution module is used for executing the pose vector (rx)_t1pp,ry_t1pp,rz_t1pp) Making the tile to be tiled tn_tSpread to the target center coordinates

The corresponding target position.

Preferably, the reference center coordinate confirmation module includes:

a reference brick intersection point coordinate acquisition unit for acquiring a laser track and the reference brick rn by laser scanning of a fixed point route_rCoordinates of four intersection points on the edge, wherein the intersection point p₁And point of intersection p₂Is positioned on the reference brick rn_rOn the first side of (1), the intersection point p₃And point of intersection p₄Is positioned on the reference brick rn_rThe first edge and the second edge intersect at the reference tile rn_rVertex n of_iSaid point of intersection p₁Has the coordinates of

The point of intersection p₂Has the coordinates of

The point of intersection p₃Has the coordinates of

The point of intersection p₄Has the coordinates of

A reference center coordinate calculation unit for calculating a reference center coordinate based on the intersection point p₁And said intersection point p₂Calculating the straight line s on which the first edge is located₁Slope of (2)

The straight line s₁And said X_RAngle between axes

And the straight line s₁Intercept of

According to the intersection point p₃And said intersection point p₄Calculating the straight line s where the second edge is located₂Slope of (2)

The straight line s₂And said X_RAngle between axes

And the straight line s₂Intercept of

According to the reference brick rn_rSide length a of_tThe slope

The angle

The intercept

The slope

The angle

And the intercept

Calculating the reference center coordinates

The current center coordinate determination module includes:

a tile to be paved intersection point coordinate obtaining unit for obtaining the laser track and the tile to be paved tn by laser sweeping through a fixed point route_tCoordinates of four intersections on the edge, where intersection p'₁And intersection point p'₂Is positioned on the ceramic tile to be paved tn_tOn the first side of (2), intersection point p'₃And intersection point p'₄Is positioned on the ceramic tile to be paved tn_tOn the second side of said tile to be tiled tn_tAnd the tile to be laid tn_tIs intersected by the tile tn to be laid_tVertex n'_iOf said intersection p'₁Has the coordinates of

The intersection point p'₂Has the coordinates of

The intersection point p'₃Has the coordinates of

The intersection point p'₄Has the coordinates of

A current center coordinate calculation unit for calculating p 'from the intersection point'₁And the intersection point p'₂Calculating the coordinates of said tile to be tiled tn_tS 'to the first side'₁Slope of (2)

S 'of the straight line'₁And said X_RAngle between axes

And the straight line s'₁Intercept of

According to the intersection point p'₃And the intersection point p'₄Calculating the coordinates of said tile to be tiled tn_tS 'of the second side'₂Slope of (2)

The straight line s'₂And said X_RAngle between axes

And the straight line s'₂Intercept of

According to the reference brick rn_rSide length a of_tThe slope

The angle of inclusion

The intercept

The slope

The angle of inclusion

And the intercept

Calculating the current center coordinates

Preferably, the calculation formula of the pose vector is as follows:

x_t1pp＝x_t1c+x_l1tcp+(x′_t1c-x_l2tcp)-e_x

y_t1pp＝y_t1c+y_l1tcp+(y′_t1c-y_l2tcp)-e_y

z_t1pp＝z_t1c

rx_t1pp＝rx_r1p4

ry_t1pp＝ry_r1p4

rz_t1pp＝rz_r1p4+θ_r1s1-θ′_t1s1+e_rz

wherein, theta_r1s1Is the straight line s₁And said X_RAngle between the axes, θ'_t1s1Is the straight line s'₁And said X_RAngle between axes, rx_r1p4Is the intersection point p₄At the position X_RPose vector of axis, ry_r1p4Is the intersection point p₄At the Y_RPose vectors of the axes.

Preferably, the device further comprises a fixed-point path laser scanning module:

for defining the formed ceramic tile pile as a side length a according to the irregular stacking condition of a plurality of ceramic tiles_sWherein said a_sThe minimum value for the square area to adapt to any angle of the ceramic tile is as follows:

Δ₁+Δ₂＝a_s

Δ₁ ²+Δ₂ ²＝a_t ²

and also used forSelecting 7 reference points L of point laser scanning track in a tile coordinate system₁、L₂、L₃、L₄、 L₅、L₆、L₇，

Wherein the point laser is at the reference point L₁And the reference point L₂In the course of the sweep through a first point of intersection on the tile edge, the point laser light from the reference point L₃Swept to the reference point L₄The point laser passes through a second intersection point on the edge of the ceramic tile in the process and is positioned at the reference point L₄And the reference point L₅In the course of the sweep through a third point of intersection on the tile edge, the point laser light from the reference point L₆Swept to the reference point L₇Passing the fourth edge of the tile in the processThe first intersection point and the second intersection point are positioned on a first edge of the ceramic tile, the third intersection point and the fourth intersection point are positioned on a second edge of the ceramic tile, and the first edge and the second edge are adjacent edges;

also for making a spot laser sweep route based on the 7 reference points;

and is also operative to sweep the tiles in the spot laser sweep path.

According to the technical scheme, the tile paving method and the tile automatic paving control system provided by the embodiment of the invention have the advantages that tile paving work is automated, tile paving accuracy and flatness can be improved, field monitoring personnel can be reduced or not needed, construction safety accidents are greatly reduced, and meanwhile work efficiency is improved.

Drawings

Fig. 1 is a flow chart of a tile laying method of the present invention.

Fig. 2 is a structural view of an automatic tile laying control system of the present invention.

FIG. 3 shows a reference brick rn according to the present invention_rEffect map of making a fixed point course laser sweep.

Fig. 4 is a schematic view of the placement of tiles in a tile stack according to the present invention.

Fig. 5 is a schematic diagram of 7 reference points of the laser sweep trace of the present invention.

Detailed Description

The technical scheme and the technical effect of the invention are further elaborated in the following by combining the drawings of the invention.

The invention provides a tile paving method, which realizes paving operation by only taking a tile as a reference datum through a mechanical arm and an automatic tile paving control system, and as shown in figure 1, the method specifically comprises the following steps:

step S1, the reference brick rn already laid on the reference position_rPerforming laser scanning operation on the fixed-point route to confirm the reference brick rn_rIs located in the robot coordinate system X_R-Y_RCenter of reference coordinates of

Step S2, according to the reference center coordinates

Relative line number

Relative number of columns

Side length a of ceramic tile_tAnd tile spacing w_gCalculating the tn of the next ceramic tile to be paved_tTarget center coordinates of the target position of

Relative line number

For tiling tn_tRelative to reference brick rn_rThe number of rows and the number of columns

For laying tiles tn_tRelative to reference brick rn_rThe number of columns;

step S3, absorbing a tile to be paved tn from the tile pile_t；

Step S4, paving the ceramic tile tn_tPerforming laser scanning operation on the fixed-point route, and calculating the tn of the ceramic tile to be paved_tCurrent center coordinates of

Step S5, according to the target center coordinates

Current center coordinate

Andthe compensation parameter calculates the pose vector (rx) of the tail end of the robot for executing the paving operation_t1pp,ry_t1pp,rz_t1pp)；

Step S6, executing the pose vector (rx)_t1pp,ry_t1pp,rz_t1pp) To make the ceramic tile tn to be laid_tSpread to target center coordinates

The corresponding target position.

As shown in fig. 3, step S1 is to reference brick rn by sweep pattern a or sweep pattern B_rPerforming laser scanning on the fixed-point route, wherein the fixed-point route can be positioned on a reference brick rn_rFour intersection points are generated on two adjacent sides of the upper plate, wherein the intersection point p₁And point of intersection p₂On the reference brick rn_rOn the first side of (1), the intersection point p₃And point of intersection p₄Is positioned on a reference brick rn_rThe first edge and the second edge intersect at a reference tile rn_rVertex n of_iPoint of intersection p₁Has the coordinates of

The point of intersection p₂Has the coordinates of

Intersection point p₃Has the coordinates of

Intersection point p₄Has the coordinates of

According to the point of intersection p₁And the intersection point p₂Can calculate the straight line s of the first edge₁Slope of (2)

Straight line s₁And X_RAngle between axes

And a straight line s₁Intercept of

According to the point of intersection p₃And the intersection point p₄Calculating the straight line s of the second edge₂Slope of (2)

Straight line s₂And X_RAngle between axes

And a straight line s₂Intercept of

Calculate vertex n_iCoordinates of (2)

According to the reference brick rn_rSide length of (a)_tCalculating the coordinates of the reference center

Step S2, according to the reference center coordinates

Relative line number

Relative number of rows

Side length a of ceramic tile_tAnd tile spacing w_gCalculating the next tile to be paved tn_tTarget center coordinates of the target position of

The calculation formula of (2) is as follows:

step S4 for tile tn to be tiled_tPerforming laser scanning operation on the fixed-point route, and calculating the tn of the ceramic tile to be paved_tCurrent center coordinates of

The specific implementation of the method is as follows:

obtaining the laser track and the ceramic tile to be paved tn by the laser sweep of the fixed point route_tCoordinates of four intersections on the sides, wherein the intersection p'₁And intersection point p'₂Is positioned at the ceramic tile tn to be paved_tOn the first side of (2), intersection point p'₃And intersection point p'₄Is positioned at the ceramic tile tn to be paved_tOn the second side, the tiles tn to be laid_tFirst edge of (1) and tiles to be tiled tn_tIs intersected with the tile tn to be laid_tVertex n'_iOf intersection p'₁Has the coordinates of

Intersection point p'₂Has the coordinates of

Intersection point p'₃Has the coordinates of

Intersection point p'₄Has the coordinates of

According to intersection point p'₁Of (c) and an intersection point p'₂Calculating the tile to be tiled tn_tS 'to the first side'₁Slope of (2)

Straight line s'₁And X_RAngle between axes

And straight line s'₁Intercept of

According to intersection p'₃Coordinate and intersection p'₄Calculating the tile to be tiled tn_tS 'of the second side'₂Slope of (2)

Straight line s'₂And X_RAngle between axes

And straight line s'₂Intercept of

Calculate vertex n'_iCoordinates of (2)

According to the ceramic tile to be paved tn_tSide length a of_tCalculating the coordinates of the reference center

The tile stack to be paved with tiles is placed irregularly, and the placing freedom degree exists even if the tile stack is placed in a mechanical limiting mode, so that pose errors exist when the mechanical arm grabs the tiles at fixed points every time, and the pose deviation compensation needs to be performed after the tiles are grabbed every time. When the final pose data required to be executed by the tail end of the mechanical arm is calculated in the step S5, the adopted compensation parameters comprise a laser measuring head

Point laser in robot coordinate system X_R-Y_RProjected on the plane X_RDistance of axis

Y_RDistance of axis

Also comprises a system error e caused by the integral installation deviation of the robot_x、e_y、e_rzAnd also comprises a reference brick rn_rThe plane and the ceramic tile to be paved tn_tZ-axis distance Z of the plane_t1c. Determining each compensation parameter value as follows through a repeatability test of tile paving: x is the number of_l1tcp＝18.062，y_l1tcp＝162.468，x_l2tcp＝109.753，y_l2tcp＝393.364，e_x＝23、 e_y＝6、e_rz＝0.25，z_t1c＝-465.88。

According to the target center coordinates

Current center coordinate

And calculating a pose vector (rx) of the tail end of the robot for executing the paving operation by the compensation parameter_t1pp,ry_t1pp,rz_t1pp) The specific calculation process is as follows:

x_t1pp＝x_t1c+x_l1tcp+(x′_t1c-x_l2tcp)-e_x (23)

y_t1pp＝y_t1c+y_l1tcp+(y′_t1c-y_l2tcp)-e_y (24)

z_t1pp＝z_t1c (25)

rx_t1pp＝rx_r1p4 (26)

ry_t1pp＝ry_r1p4 (27)

rz_t1pp＝rz_r1p4+θ_r1s1-θ′_t1s1+e_rz (28)

wherein, theta_r1s1Is the straight line s₁And said X_RAngle between the axes theta'_t1s1Is the straight line s'₁And said X_RAngle between axes, rx_r1p4Is the intersection point p₄At the position X_RPose vector of axis, ry_r1p4Is the intersection point p₄At the Y_RPose vector of axis.

In the embodiment of the invention, the laser scanning operation of the fixed point path of the ceramic tile is set according to the stacking condition of a plurality of ceramic tiles, and as shown in figure 4, according to 4 types of simulated irregular ceramic tile placement types, the formed ceramic tile stack is specified to have a side length of a_sSquare area of (a)_sWhen the square area is adapted to the minimum value of the ceramic tiles placed at any angle, a_sThe values of (A) are as follows:

in order to make all the irregularly placed tiles in the tile pile successfully swept, the four placement modes in fig. 4 are analyzed to obtain the following line segment length relationship:

Δ₁+Δ₂＝a_s (30)

Δ₁ ²+Δ₂ ²＝a_t ² (31)

solving according to the formula (30) and the formula (31) to obtain delta₁And Δ₂The value of (A) is as follows:

selecting 7 reference points L of point laser scanning track in a tile coordinate system₁、L₂、L₃、L₄、L₅、 L₆、L₇The coordinates of the seven fiducial points are as follows:

wherein the point laser is at the reference point L₁And a reference point L₂While sweeping through a first intersection point on the tile edge, the point laser light is from the reference point L₃Swept to a reference point L₄The point laser passes through a second intersection point on the edge of the tile in the process and is at a reference point L₄And a reference point L₅While sweeping through a third intersection point on the tile edge, the point laser light is from the reference point L₆Swept to a reference point L₇The process passes through a fourth intersection point on the edge of the ceramic tile and the first intersection pointThe second intersection point is positioned on the first edge of the ceramic tile, the third intersection point and the fourth intersection point are positioned on the second edge of the ceramic tile, and the first edge and the second edge are adjacent edges;

the laser sweeping route is made based on 7 reference points, so that the self-adaptive operation of the ceramic tiles in the ceramic tile stack can be realized, and as shown in fig. 3, the path of the sweeping mode A is L₁→L₂→L₄→L₃→L₄→L₅→L₇→L₆The upper edge of the reference ceramic tile is swept to the lower edge of the reference ceramic tile, the method has the advantages that the electric signal standard when one set of recording point positions is used in a unified mode, so that the number of hard wiring is reduced, the use of IO ports of a measuring system is saved, meanwhile, the sweeping mode A has more idle strokes, and the idle strokes are used for enabling point laser falling points to return to the upper surface of the ceramic tile before the sweeping is started, so that the laser points are guaranteed to be accurately shot on the surface of the ceramic tile or outside the ceramic tile; the path of sweep pattern B is L₁→L₂→L₃→L₄→L₅→L₆→L₇Two sets of electrical signal standards for sweeping paths and point location recording are adopted, namely paths from the upper edge of the ceramic tile to the lower edge of the ceramic tile and reverse paths are alternately used, the sweeping mode B occupies double system interface resources, the idle stroke is shortened, and the sweeping efficiency is improved.

Finally, the tile is swept in a spot laser sweep path.

When the sweep mode A is adopted, only L can be selected₁、L₄、L₇Three points as reference points for the laser sweep, L₂、L₃、L₅、L₆The robot can stop the movement of the section immediately after receiving the laser falling edge signal, and the movement is as close to the edge of the ceramic tile as possible, so that the laser sweeping stroke is shortened, and the ceramic tile paving efficiency is improved.

As shown in fig. 2, the present invention also provides an automatic tile laying control system, which can implement the method shown in fig. 1 by controlling a robot, wherein the robot for practical operation has a mechanical arm and a laser sweeping device, and the end of the mechanical arm is provided with a suction cup. The automatic tile paving control system specifically comprises:

a reference center coordinate confirming module 21 for confirming the reference brick rn laid on the reference position_rPerforming laser scanning operation on the fixed-point route to confirm the reference brick rn_rIs located in the robot coordinate system X_R-Y_RCenter of reference coordinates of

A target center coordinate calculation module 22 for calculating a reference center coordinate

Relative line number

Relative number of rows

Side length a of ceramic tile_tAnd tile spacing w_gCalculating the tn of the next ceramic tile to be paved_tTarget center coordinates of the target position

Relative line number

For tiling tn_tRelative to reference brick rn_rThe number of rows and the number of columns

For tiling tn_tRelative to reference brick rn_rThe number of columns;

an execution module 23 for sucking a tile tn to be laid from the stack_t；

A current central coordinate confirmation module 24 for the tile to be tiled tn_tPerforming laser scanning operation on the fixed-point route, and calculating the tn of the ceramic tile to be paved_tCurrent center coordinates of

A pose vector calculation module 25 for calculating a pose vector based on the target center coordinates

Current center coordinate

And calculating a pose vector (rx) of the tail end of the robot for executing the paving operation by the compensation parameter_t1pp,ry_t1pp,rz_t1pp) Wherein the compensation parameter comprises a laser probe

Point laser in robot coordinate system X_R-Y_RProjected on the plane X_RDistance of axis

Y_RDistance of axis

And also includes a system error e caused by the integral installation deviation of the robot_x、e_y、e_rzAnd also comprises a reference brick rn_rThe plane and the ceramic tile to be paved tn_tZ-axis distance Z of the plane_t1c；

An execution module 23 for executing the pose vector (rx)_t1pp,ry_t1pp,rz_t1pp) So that the tiles tn to be laid_tSpread to target center coordinates

The corresponding target position.

And the fixed point route laser sweeping module 26 is used for making a point laser sweeping route based on 7 datum points according to the irregular arrangement condition of the simulated tiles and sweeping the tiles. The selection of 7 reference points is as described in the previous solution, and the line of the point laser sweep is as shown in fig. 3.

Specifically, the reference center coordinate determination module 21 includes:

a reference brick intersection coordinate obtaining unit 211, configured to obtain a laser track and a reference brick rn by scanning with a fixed-point route laser_rCoordinates of four intersection points on the edge, wherein the intersection point p₁And point of intersection p₂On the reference brick rn_rOn the first side of (1), the intersection point p₃And point of intersection p₄On the reference brick rn_rThe first edge and the second edge intersect at a reference tile rn_rVertex n of (2)_iPoint of intersection p₁Has the coordinates of

Intersection point p₂Has the coordinates of

Intersection point p₃Has the coordinates of

The point of intersection p₄Has the coordinates of

A reference center coordinate calculation unit 212 for calculating a reference center coordinate from the intersection point p₁And the intersection point p₂Calculating the straight line s where the first edge is located₁Slope of (2)

Straight line s₁And X_RAngle between axes

And a straight line s₁Intercept of

According to the point of intersection p₃And the intersection point p₄Is determined by the coordinate of (a) in the space,calculating the straight line s of the second edge₂Slope of (2)

Straight line s₂And X_RAngle between axes

And a straight line s₂Intercept of

According to the reference brick rn_rSide length a of_tSlope of

Included angle

Intercept of a beam

Slope of

Included angle

And intercept

Calculating the coordinates of the reference center

The calculation process may refer to the method of the present invention described above.

The current center coordinate determination module 22 includes:

a tile intersection point coordinate obtaining unit 221 for obtaining the laser track and the tile tn to be laid by laser sweeping through the fixed point route_tCoordinates of four intersections on the edge, where intersection p'₁And intersection point p'₂Is positioned at the ceramic tile tn to be paved_tOn the first side of (1), an intersection p'₃And point of intersectionp′₄Is positioned at the ceramic tile tn to be paved_tOn the second side of (1), the tiles to be tiled tn_tFirst edge of (1) and tiles to be tiled tn_tIs intersected with the tile tn to be laid_tVertex n'_iOf intersection p'₁Has the coordinates of

Intersection point p'₂Has the coordinates of

Intersection point p'₃Has the coordinates of

Intersection point p'₄Has the coordinates of

A current center coordinate calculation unit 222 for calculating p 'from the intersection point'₁Coordinate and intersection p'₂Calculating the tile to be tiled tn_tS 'to the first side'₁Slope of (2)

Straight line s'₁And X_RAngle between axes

And a straight line s'₁Intercept of

According to intersection point p'₃Of (c) and an intersection point p'₄Calculating the tile to be tiled tn_tS 'of the second side'₂Slope of (2)

Straight line s'₂And X_RAngle between axes

And straight line s'₂Intercept of

According to the reference brick rn_rSide length a of_tSlope of the magnetic flux

Included angle

Intercept of a beam

Slope of

Included angle

And intercept

Calculating the coordinate of the reference center

The calculation process may refer to the method of the present invention described above.

According to the tile paving method and the tile automatic paving control system provided by the embodiment of the invention, the laser sensor is adopted for measurement, the cost is low, and the measurement precision is high; by utilizing the mechanical arm and the automatic tile paving and pasting control system, the problem of low tile paving position precision can be solved, 24-hour uninterrupted installation can be realized, and the paving and pasting work execution speed is increased; automatic control is realized, field construction personnel can be reduced or not needed, and the personnel selection cost and the construction safety accident occurrence probability are greatly reduced.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.

Claims (8)

1. A method of laying tiles, comprising:

for the reference brick rn laid on the reference position_rPerforming a fixed-point path laser scanning operation to confirm the reference brick rn_rIs located in the robot coordinate system X_R-Y_RCenter of reference coordinates of

According to the reference center coordinates

Relative line number

Relative number of rows

Side length a of ceramic tile_tAnd tile spacing w_gCalculating the next tile to be paved tn_tTarget center coordinates of the target position of

The relative line number

For the ceramic tile to be spread tn_tRelative to the reference brick rn_rThe number of rows and the number of columns

For the ceramic tile to be spread tn_tRelative to the reference brick rn_rThe number of columns;

adsorbing one tile tn to be paved from the tile pile_t；

For the ceramic tile to be paved tn_tPerforming the laser scanning operation of the fixed-point route, and calculating the to-be-paved ceramic tile tn_tCurrent center coordinates of

According to the target center coordinates

The current center coordinate

And calculating a pose vector (rx) of the tail end of the robot for executing the paving operation by the compensation parameter_t1pp,ry_t1pp,rz_t1pp) The compensation parameter comprises a laser measuring head

In the robot coordinate system X_R-Y_RProjected on the plane X_RDistance of axis

Y_RDistance of axis

Also comprises a system error e caused by the integral installation deviation of the robot_x、e_y、e_rzAnd also comprises the reference brick rn_rThe plane and the tile to be paved tn_tZ-axis distance Z of the plane_t1c；

Executing the pose vector (rx)_t1pp,ry_t1pp,rz_t1pp) Making the tile to be tiled tn_tSpread to the target center coordinates

The corresponding target position;

the pair of reference bricks rn already laid on the reference positions_rPerforming a fixed-point path laser scanning operation to confirm the reference brick rn_rIs located in the robot coordinate system X_R-Y_RCenter of reference coordinates of

The method comprises the following steps: obtaining a laser track and the reference brick rn by laser sweeping of a fixed-point route_rCoordinates of four intersection points on the edge, where the intersection point p₁And point of intersection p₂Is positioned on the reference brick rn_rOn the first side of (1), the intersection point p₃And point of intersection p₄Is positioned on the reference brick rn_rThe first edge and the second edge intersect at the reference tile rn_rVertex n of (2)_iSaid point of intersection p₁Has the coordinates of

The point of intersection p₂Has the coordinates of

The point of intersection p₃Has the coordinates of

The point of intersection p₄Has the coordinates of

According to the intersection point p₁And said intersection point p₂Calculating the straight line s on which the first edge is located₁Slope of (2)

The straight line s₁And said X_RAngle between axes

And the straight line s₁Intercept of

According to the intersection point p₃And said intersection point p₄Calculating the straight line s where the second edge is located₂Slope of (2)

The straight line s₂And said X_RAngle between axes

And the straight line s₂Intercept of

Calculating the vertex n_iOf (2)

According to the reference brick rn_rSide length of (a)_tCalculating the reference center coordinates

2. A tile laying method as claimed in claim 1, wherein said reference center coordinates are determined according to said reference center coordinates

Relative line number

Relative number of rows

Side length a of ceramic tile_tAnd tile spacing w_gCalculating the next tile to be paved tn_tTarget center coordinates of the target position of

The calculation formula of (c) is:

3. a tile laying method as claimed in claim 2, wherein said pair of tiles to be laid tn_tPerforming the laser scanning operation of the fixed-point route, and calculating the to-be-paved ceramic tile tn_tCurrent center coordinates of

The method comprises the following steps:

obtaining a laser track and the to-be-paved ceramic tile tn by laser sweeping of a fixed point route_tCoordinates of four intersections on the edge, where intersection p'₁And intersection point p'₂Is positioned on the ceramic tile to be paved tn_tOn the first side of (2), intersection point p'₃And intersection point p'₄Is positioned on the ceramic tile to be paved tn_tOn the second side of said tile to be tiled tn_tAnd the tile to be tiled tn_tIs intersected with the tile to be tiled tn_tVertex n'_iOf said intersection p'₁Has the coordinates of

The intersection point p'₂Has the coordinates of

The intersection point p'₃Has the coordinates of

The intersection point p'₄Has the coordinates of

According to the intersection point p'₁And the intersection point p'₂Calculating the coordinates of said tile to be tiled tn_tS 'to the first side of'₁Slope of (2)

The straight line s'₁And said X_RAngle between axes

And the straight line s'₁Intercept of

According to the intersection point p'₃And the intersection point p'₄Calculating the coordinates of said tile to be tiled tn_tS 'of the second side'₂Slope of (2)

The straight line s'₂And said X_RAngle between axes

And the straight line s'₂Intercept of

Calculating the vertex n'_iCoordinates of (2)

According to the ceramic tile to be paved tn_tSide length a of_tCalculating the current center coordinates

4. A tile laying method as claimed in claim 3, wherein said target-based centre coordinates are determined from said target-based centre coordinates

The current center coordinate

And calculating a pose vector (rx) of the tail end of the robot for executing the paving operation by the compensation parameter_t1pp,ry_t1pp,rz_t1pp) The method comprises the following steps:

x_t1pp＝x_t1c+x_l1tcp+(x′_t1c-x_l2tcp)-e_x

y_t1pp＝y_t1c+y_l1tcp+(y′_t1c-y_l2tcp)-e_y

z_t1pp＝z_t1c

rx_t1pp＝rx_r1p4

ry_t1pp＝ry_r1p4

rz_t1pp＝rz_r1p4+θ_r1s1-θ′_t1s1+e_rz

wherein, theta_r1s1Is the straight line s₁And said X_RAngle between the axes, θ'_t1s1Is the straight line s'₁And said X_RAngle between axes, rx_r1p4Is the intersection point p₄At the X_RPose vector of axis, ry_r1p4Is the intersection point p₄At the Y_RPose vectors of the axes.

5. The tile laying method of claim 4, wherein the fixed-point path laser sweeping operation comprises:

according to the irregular stacking condition of a plurality of ceramic tiles, the formed ceramic tile stack is defined as one side length a_sWherein a is_sFitting the square area to the minimum value of the tiles placed at any angle:

Δ₁+Δ₂＝a_s

Δ₁ ²+Δ₂ ²＝a_t ²

selecting 7 reference points L of point laser scanning track in a tile coordinate system₁、L₂、L₃、L₄、L₅、L₆、L₇，

Wherein the point laser is at the reference point L₁And the reference point L₂In the course of the sweep through a first point of intersection on the tile edge, the point laser light from the reference point L₃Swept to the reference point L₄The point laser passes through a second intersection point on the edge of the ceramic tile in the process and is positioned at the reference point L₄And the reference point L₅In the course of the sweep through a third point of intersection on the tile edge, the point laser light from the reference point L₆Swept to the reference point L₇The first intersection point and the second intersection point are located on the first edge of the ceramic tile, the third intersection point and the fourth intersection point are located on the second edge of the ceramic tile, and the first edge and the second edge are adjacent edges;

making a pointing laser sweep path based on the 7 fiducial points;

sweeping the tile in the spot laser sweeping path.

6. An automatic tile laying control system, comprising:

a reference center coordinate confirming module for confirming the laid and pastedReference brick rn of reference position_rPerforming a fixed-point path laser scanning operation to confirm the reference brick rn_rIs located in the robot coordinate system X_R-Y_RCenter of reference coordinates of

A target center coordinate calculation module for calculating the reference center coordinate

Relative line number

Relative number of rows

Side length a of ceramic tile_tAnd calculating the space wg between the ceramic tiles to obtain the next ceramic tile to be paved tn_tTarget center coordinates of the target position of

The relative line number

For the ceramic tile to be spread tn_tRelative to the reference brick rn_rThe number of rows and the number of columns

For the ceramic tile to be spread tn_tRelative to the reference brick rn_rThe number of columns;

an execution module for adsorbing one tile tn to be laid from the tile stack_t；

A current central coordinate confirming module for the ceramic tile to be paved tn_tPerforming the laser scanning operation of the fixed-point route, and calculating the tn of the ceramic tile to be paved_tCurrent center coordinates of

A pose vector calculation module for calculating the coordinate of the target center

The current center coordinate

And calculating a pose vector (rx) of the tail end of the robot for executing the paving operation by the compensation parameter_t1pp,ry_t1pp,rz_t1pp) The compensation parameter comprises a laser measuring head

In the robot coordinate system X_R-Y_RProjected on the plane X_RDistance of axis

Y_RDistance of axis

And also includes a system error e caused by the integral installation deviation of the robot_x、e_y、e_rzAnd also comprises the reference brick rn_rThe plane and the tile to be paved tn_tZ-axis distance Z of the plane_t1c；

The execution module is used for executing the pose vector (rx)_t1pp,ry_t1pp,rz_t1pp) Making the ceramic tile to be paved tn_tSpread to the target center coordinates

The corresponding target position;

the reference center coordinate confirming module includes:

a reference brick intersection point coordinate acquisition unit forObtaining laser tracks and the reference brick rn by laser scanning of a fixed-point route_rCoordinates of four intersection points on the edge, wherein the intersection point p₁And point of intersection p₂Is positioned on the reference brick rn_rOn the first side of (1), the intersection point p₃And point of intersection p₄Is positioned on the reference brick rn_rThe first edge and the second edge intersect at the reference tile rn_rVertex n of_iSaid point of intersection p₁Has the coordinates of

The point of intersection p₂Has the coordinates of

The point of intersection p₃Has the coordinates of

The point of intersection p₄Has the coordinates of

A reference center coordinate calculation unit for calculating a reference center coordinate based on the intersection point p₁And said intersection point p₂Calculating the straight line s on which the first edge is located₁Slope of (2)

The straight line s₁And said X_RAngle between axes

And the straight line s₁Intercept of

According to the intersection point p₃And said intersection point p₄Calculating the straight line s where the second edge is located₂Slope of (2)

The straight line s₂And said X_RAngle between axes

And the straight line s₂Intercept of

According to the reference brick rn_rSide length of (a)_tThe slope

The angle

The intercept

The slope

The angle

And the intercept

Calculating the reference center coordinates

The current center coordinate determination module includes:

a tile to be paved intersection point coordinate obtaining unit for obtaining the laser track and the tile to be paved tn by laser sweeping through a fixed point route_tCoordinates of four intersections on the edge, where intersection p'₁And intersection point p'₂Is located atThe to-be-paved ceramic tile tn_tOn the first side of (2), intersection point p'₃And intersection point p'₄Is positioned on the ceramic tile to be paved tn_tOn the second side of said tile to be tiled tn_tAnd the tile to be tiled tn_tIs intersected with the tile to be tiled tn_tVertex n'_iAnd the intersection p'₁Has the coordinates of

The intersection point p'₂Has the coordinates of

The intersection point p'₃Has the coordinates of

The intersection point p'₄Has the coordinates of

A current center coordinate calculation unit for calculating p 'according to the intersection point'₁And the intersection point p'₂Calculating the coordinates of said tile to be tiled tn_tS 'to the first side'₁Slope of (2)

The straight line s'₁And said X_RAngle between axes

And the straight line s'₁Intercept of

According to the intersection point p'₃And the intersection point p'₄Calculating the coordinates of said tile to be tiled tn_tS 'of the second side'₂Slope of (2)

The straight line s'₂And said X_RAngle between axes

And the straight line s'₂Intercept of

According to the reference brick rn_rSide length a of_tThe slope

The angle

Said intercept

The slope

The angle

And the intercept

Calculating the current center coordinates

7. The automatic tile tiling control system of claim 6, wherein the pose vector is calculated by the formula:

x_t1pp＝x_t1c+x_l1tcp+(x′_t1c-x_l2tcp)-e_x

y_t1pp＝y_t1c+y_l1tcp+(y′_t1c-y_l2tcp)-e_y

z_t1pp＝z_t1c

rx_t1pp＝rx_r1p4

ry_t1pp＝ry_r1p4

rz_t1pp＝rz_r1p4+θ_r1s1-θ′_t1s1+e_rz

wherein, theta_r1s1Is the straight line s₁And said X_RAngle between the axes theta'_t1s1Is the straight line s'₁And said X_RAngle between axes, rx_r1p4Is the intersection point p₄At the position X_RPose vector of axis, ry_r1p4Is the intersection point p₄At the Y_RPose vectors of the axes.

8. The automated tile tiling control system of claim 7, further comprising a spot-line laser sweep module:

for defining the formed ceramic tile pile as a side length a according to the irregular stacking condition of a plurality of ceramic tiles_sWherein said a_sThe minimum value for the square area to adapt to any angle of the ceramic tile is as follows:

Δ₁+Δ₂＝a_s

Δ₁ ²+Δ₂2＝a_t ²

also for selecting 7 reference points L of the point laser sweep trajectory in the tile coordinate system₁、L₂、L₃、L₄、L₅、L₆、L₇，

Wherein the point laser is at the reference point L₁And the reference point L₂In the course of the sweep through a first point of intersection on the tile edge, the point laser light from the reference point L₃Swept to the reference point L₄Passing the second on the edge of the tile in the processPoint of intersection, point laser light being at said reference point L₄And the reference point L₅Passes a third point of intersection on the tile edge in the sweeping process, the point laser passes from the reference point L₆Swept to the reference point L₇The first intersection point and the second intersection point are located on the first edge of the ceramic tile, the third intersection point and the fourth intersection point are located on the second edge of the ceramic tile, and the first edge and the second edge are adjacent edges;

further for making a setpoint laser sweep path based on the 7 datum points;

and for sweeping the tile in accordance with the spot laser sweep path.

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