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

Tile paving method and tile automatic paving control system Download PDF

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CN113482301B
CN113482301B CN202110750160.8A CN202110750160A CN113482301B CN 113482301 B CN113482301 B CN 113482301B CN 202110750160 A CN202110750160 A CN 202110750160A CN 113482301 B CN113482301 B CN 113482301B
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tile
point
intersection
coordinates
intersection point
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CN113482301A (en
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张中岳
周惠兴
王舜
吕燕楠
郑晓昱
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Beijing University of Civil Engineering and Architecture
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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/20—Implements for finishing work on buildings for laying flooring
    • E04F21/22—Implements for finishing work on buildings for laying flooring of single elements, e.g. flooring cramps ; flexible webs
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
    • E04F21/1838—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
    • E04F21/1838—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements
    • E04F21/1844—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements by applying them one by one

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  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Road Paving Structures (AREA)
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Abstract

本发明提供瓷砖铺贴方法，属于自动控制技术领域。包括：对已铺贴于基准位置的基准砖进行定点路线激光扫掠操作，确认所述基准砖rnr的中心点位于机器人坐标系XR‑YR下的基准中心坐标；根据所述基准中心坐标、相对行数、相对列数、瓷砖边长以及瓷砖间距计算出下一块待铺瓷砖的目标位置的目标中心坐标；从瓷砖堆中吸附一片所述待铺瓷砖；对所述待铺瓷砖进行所述定点路线激光扫掠操作，计算所述待铺瓷砖的当前中心坐标；根据所述目标中心坐标、所述当前中心坐标、以及补偿参数计算机器人末端执行铺贴作业的位姿向量；执行所述位姿向量，使所述待铺瓷砖铺贴至所述目标中心坐标所对应的所述目标位置。本发明还提供瓷砖自动铺贴控制系统。

Figure 202110750160

The invention provides a tile paving method, which belongs to the technical field of automatic control. Including: performing a fixed-point route laser sweep operation on the reference bricks that have been laid at the reference position, and confirming that the center point of the reference brick rn r is located at the reference center coordinates under the robot coordinate system X R -Y R ; according to the reference center Coordinates, relative row number, relative column number, tile side length and tile spacing calculate the target center coordinates of the target position of the next tile to be laid; adsorb a piece of the tile to be laid from the tile pile; The laser sweeping operation of the fixed-point route calculates the current center coordinates of the tile to be laid; calculates the pose vector of the robot end performing the paving operation according to the target center coordinates, the current center coordinates, and the compensation parameters; The pose vector is used to make the tile to be laid to the target position corresponding to the target center coordinate. The invention also provides a tile automatic paving control system.

Figure 202110750160

Description

瓷砖铺贴方法和瓷砖自动铺贴控制系统Tile paving method and tile automatic paving control system

技术领域technical field

本发明涉及自动控制技术领域，尤其涉及一种瓷砖铺贴方法和瓷砖自动铺贴控制系统。The invention relates to the technical field of automatic control, in particular to a tile laying method and a tile automatic laying control system.

背景技术Background technique

瓷砖铺贴工作通常是施工人员一片一片的铺贴，衡量瓷砖铺贴质量的要点是精确度和效率，由于施工人员的技术水平参差不齐，对于瓷砖铺贴的位置精确度、平整程度难以保障，单人现场搬砖、铺砖的劳动强度大且繁琐，长时间处于搬运作业的施工人员容易产生疲惫而引发施工安全事故，且效率不高。Tile paving work is usually done piece by piece by construction workers. The key points to measure the quality of tile paving are accuracy and efficiency. Due to the uneven technical level of construction workers, it is difficult to guarantee the positional accuracy and flatness of tile paving. The labor-intensive and cumbersome work of single-person moving bricks and laying bricks on site is easy. Construction workers who are in the handling operation for a long time are prone to fatigue and cause construction safety accidents, and the efficiency is not high.

发明内容SUMMARY OF THE INVENTION

有鉴于此，本发明提供一种瓷砖铺贴方法和瓷砖自动铺贴控制系统，将瓷砖铺贴工作自动化，能够提高瓷砖铺贴精确度和效率。In view of this, the present invention provides a tile paving method and a tile automatic tile paving control system, which automates the tile paving work and can improve the tile paving accuracy and efficiency.

本发明实施例解决其技术问题所采用的技术方案是：The technical solution adopted by the embodiment of the present invention to solve the technical problem is:

一种瓷砖铺贴方法，包括：A method for laying tiles, comprising:

对已铺贴于基准位置的基准砖rnr进行定点路线激光扫掠操作，确认所述基准砖rnr的中心点位于机器人坐标系XR-YR下的基准中心坐标

Figure GDA0003632715290000011
Perform a fixed-point route laser sweep operation on the reference brick rn r that has been laid at the reference position, and confirm that the center point of the reference brick rn r is located at the reference center coordinate under the robot coordinate system X R -Y R
Figure GDA0003632715290000011

根据所述基准中心坐标

Figure GDA0003632715290000012
相对行数
Figure GDA0003632715290000013
相对列数
Figure GDA0003632715290000014
瓷砖边长at以及瓷砖间距wg计算出下一块待铺瓷砖tnt的目标位置的目标中心坐标
Figure GDA0003632715290000015
所述相对行数
Figure GDA0003632715290000016
为所述待铺瓷砖tnt相对于所述基准砖 rnr所处的行数，所述相对列数
Figure GDA0003632715290000017
为所述待铺瓷砖tnt相对于所述基准砖rnr所处的列数；According to the reference center coordinates
Figure GDA0003632715290000012
Relative line count
Figure GDA0003632715290000013
Relative number of columns
Figure GDA0003632715290000014
The tile side length a t and the tile spacing w g calculate the target center coordinates of the target position of the next tile tn t to be laid
Figure GDA0003632715290000015
the relative number of rows
Figure GDA0003632715290000016
is the row number of the tile tn t to be laid relative to the reference tile rn r , and the relative number of columns
Figure GDA0003632715290000017
is the number of columns where the tile tn t to be laid is located relative to the reference tile rn r ;

从瓷砖堆中吸附一片所述待铺瓷砖tnt；Adsorbing a piece of the tile tn t to be laid from the tile pile;

对所述待铺瓷砖tnt进行所述定点路线激光扫掠操作，计算所述待铺瓷砖tnt的当前中心坐标

Figure GDA0003632715290000021
The fixed-point route laser sweep operation is performed on the tile tn t to be laid, and the current center coordinates of the tile tn t to be laid are calculated
Figure GDA0003632715290000021

根据所述目标中心坐标

Figure GDA0003632715290000022
所述当前中心坐标
Figure GDA0003632715290000023
以及补偿参数计算机器人末端执行铺贴作业的位姿向量(rxt1pp,ryt1pp,rzt1pp)，所述补偿参数包括激光测头
Figure GDA0003632715290000024
的点激光在所述机器人坐标系XR-YR所在平面投影到XR轴的距离
Figure GDA0003632715290000025
YR轴的距离
Figure GDA0003632715290000026
还包括由于机器人整体安装偏差所导致的系统误差ex、ey、erz，还包括所述基准砖rnr所在平面与所述待铺瓷砖tnt所在平面的Z轴间距zt1c；According to the target center coordinates
Figure GDA0003632715290000022
the current center coordinates
Figure GDA0003632715290000023
and compensation parameters to calculate the pose vector (rx t1pp , ry t1pp , rz t1pp ) of the end of the robot performing the paving operation, the compensation parameters include the laser probe
Figure GDA0003632715290000024
The distance of the point laser projected from the plane of the robot coordinate system X R -Y R to the X R axis
Figure GDA0003632715290000025
Y- R -axis distance
Figure GDA0003632715290000026
It also includes the system errors ex, ey, erz caused by the overall installation deviation of the robot, and also includes the Z-axis distance z t1c between the plane where the reference tile rn r is located and the plane where the tile tnt to be laid is located;

执行所述位姿向量(rxt1pp,ryt1pp,rzt1pp)，使所述待铺瓷砖tnt铺贴至所述目标中心坐标

Figure GDA0003632715290000027
所对应的所述目标位置。Execute the pose vector (rx t1pp , ry t1pp , rz t1pp ), so that the tile tn t to be laid is tiled to the target center coordinate
Figure GDA0003632715290000027
the corresponding target location.

较优地，所述对已铺贴于基准位置的基准砖rnr进行定点路线激光扫掠操作，确认所述基准砖rnr的中心点位于机器人坐标系XR-YR下的基准中心坐标

Figure GDA0003632715290000028
包括：Preferably, the fixed-point route laser sweeping operation is performed on the reference brick rn r that has been laid at the reference position, and it is confirmed that the center point of the reference brick rn r is located at the reference center coordinate under the robot coordinate system X R -Y R.
Figure GDA0003632715290000028
include:

通过定点路线激光扫掠，获取激光轨迹与所述基准砖rnr边上的四个交点的坐标，其中，交点p1和交点p2位于所述基准砖rnr的第一边上，交点p3和交点 p4位于所述基准砖rnr的第二边上，所述第一边和所述第二边相交于所述基准砖 rnr的顶点ni，所述交点p1的坐标为

Figure GDA0003632715290000029
所述交点p2的坐标为
Figure GDA00036327152900000210
所述交点p3的坐标为
Figure GDA00036327152900000211
所述交点p4的坐标为
Figure GDA00036327152900000212
Obtain the coordinates of the four intersection points of the laser track and the reference brick rn r by scanning the laser on the fixed-point route, wherein the intersection points p 1 and p 2 are located on the first side of the reference brick rn r , and the intersection point p 3 and the intersection point p 4 are located on the second side of the reference tile rn r , the first side and the second side intersect at the vertex ni of the reference tile rn r , and the coordinates of the intersection point p 1 are
Figure GDA0003632715290000029
The coordinates of the intersection point p2 are
Figure GDA00036327152900000210
The coordinates of the intersection point p3 are
Figure GDA00036327152900000211
The coordinates of the intersection point p4 are
Figure GDA00036327152900000212

根据所述交点p1的坐标和所述交点p2的坐标，计算所述第一边所在直线s1的斜率

Figure GDA00036327152900000213
所述直线s1与所述XR轴之间的夹角
Figure GDA00036327152900000214
以及所述直线s1的截距
Figure GDA00036327152900000215
Calculate the slope of the straight line s 1 where the first side is located according to the coordinates of the intersection point p 1 and the intersection point p 2
Figure GDA00036327152900000213
The angle between the straight line s 1 and the X R axis
Figure GDA00036327152900000214
and the intercept of the line s 1
Figure GDA00036327152900000215

Figure GDA00036327152900000216
Figure GDA00036327152900000216

Figure GDA00036327152900000217
Figure GDA00036327152900000217

Figure GDA0003632715290000031
Figure GDA0003632715290000031

根据所述交点p3的坐标和所述交点p4的坐标，计算所述第二边所在直线s2的斜率

Figure GDA0003632715290000032
所述直线s2与所述XR轴之间的夹角
Figure GDA0003632715290000033
以及所述直线s2的截距
Figure GDA0003632715290000034
Calculate the slope of the straight line s 2 where the second side is located according to the coordinates of the intersection point p 3 and the intersection point p 4
Figure GDA0003632715290000032
The angle between the straight line s 2 and the X R axis
Figure GDA0003632715290000033
and the intercept of the line s 2
Figure GDA0003632715290000034

Figure GDA0003632715290000035
Figure GDA0003632715290000035

Figure GDA0003632715290000036
Figure GDA0003632715290000036

Figure GDA0003632715290000037
Figure GDA0003632715290000037

计算出所述顶点ni的坐标

Figure GDA0003632715290000038
Calculate the coordinates of the vertex ni
Figure GDA0003632715290000038

Figure GDA0003632715290000039
Figure GDA0003632715290000039

Figure GDA00036327152900000310
Figure GDA00036327152900000310

根据所述基准砖rnr的边长at计算出所述基准中心坐标

Figure GDA00036327152900000311
The reference center coordinates are calculated according to the side length at t of the reference brick rn r
Figure GDA00036327152900000311

Figure GDA00036327152900000312
Figure GDA00036327152900000312

Figure GDA00036327152900000313
Figure GDA00036327152900000313

较优地，所述根据所述基准中心坐标

Figure GDA00036327152900000314
相对行数
Figure GDA00036327152900000315
相对列数
Figure GDA00036327152900000316
瓷砖边长at以及瓷砖间距wg计算出下一块待铺瓷砖tnt的目标位置的目标中心坐标
Figure GDA00036327152900000317
的计算公式为：Preferably, according to the reference center coordinates
Figure GDA00036327152900000314
Relative line count
Figure GDA00036327152900000315
Relative number of columns
Figure GDA00036327152900000316
The tile side length a t and the tile spacing w g calculate the target center coordinates of the target position of the next tile tn t to be laid
Figure GDA00036327152900000317
The calculation formula is:

Figure GDA00036327152900000318
Figure GDA00036327152900000318

Figure GDA00036327152900000319
Figure GDA00036327152900000319

较优地，所述对所述待铺瓷砖tnt进行所述定点路线激光扫掠操作，计算所述待铺瓷砖tnt的当前中心坐标

Figure GDA00036327152900000320
包括：Preferably, the laser scanning operation of the fixed-point route is performed on the tile tnt to be laid, and the current center coordinates of the tile tnt to be laid are calculated.
Figure GDA00036327152900000320
include:

通过定点路线激光扫掠，获取激光轨迹与所述待铺瓷砖tnt边上的四个交点的坐标，其中，交点p′1和交点p′2位于所述待铺瓷砖tnt的第一边上，交点p′3和交点p′4位于所述待铺瓷砖tnt的第二边上，所述待铺瓷砖tnt的第一边和所述待铺瓷砖tnt的第二边相交于所述待铺瓷砖tnt的顶点n′i，所述交点p′1的坐标为

Figure GDA0003632715290000041
所述交点p′2的坐标为
Figure GDA0003632715290000042
所述交点p′3的坐标为
Figure GDA0003632715290000043
所述交点p′4的坐标为
Figure GDA0003632715290000044
Obtain the coordinates of the four intersection points between the laser trajectory and the tile tnt to be laid by scanning a fixed-point route, wherein the intersection point p ′ 1 and the intersection point p ′ 2 are located on the first side of the tile tnt to be laid , the intersection point p′ 3 and the intersection point p ′ 4 are located on the second side of the tile tnt to be laid, the first side of the tile tnt to be laid and the second side of the tile tnt to be laid intersect at The vertex n ′ i of the tile tnt to be laid, the coordinate of the intersection p′ 1 is
Figure GDA0003632715290000041
The coordinates of the intersection point p′ 2 are
Figure GDA0003632715290000042
The coordinates of the intersection point p'3 are
Figure GDA0003632715290000043
The coordinates of the intersection point p'4 are
Figure GDA0003632715290000044

根据所述交点p′1的坐标和所述交点p′2的坐标，计算所述待铺瓷砖tnt的第一边所在直线s′1的斜率

Figure GDA0003632715290000045
所述直线s′1与所述XR轴之间的夹角
Figure GDA0003632715290000046
以及所述直线s′1的截距
Figure GDA0003632715290000047
According to the coordinates of the intersection point p' 1 and the intersection point p' 2 , calculate the slope of the straight line s ' 1 where the first side of the tile tnt to be laid is located
Figure GDA0003632715290000045
The angle between the straight line s' 1 and the X R axis
Figure GDA0003632715290000046
and the intercept of the line s' 1
Figure GDA0003632715290000047

Figure GDA0003632715290000048
Figure GDA0003632715290000048

Figure GDA0003632715290000049
Figure GDA0003632715290000049

Figure GDA00036327152900000410
Figure GDA00036327152900000410

根据所述交点p′3的坐标和所述交点p′4的坐标，计算所述待铺瓷砖tnt的第二边所在直线s′2的斜率

Figure GDA00036327152900000411
所述直线s′2与所述XR轴之间的夹角
Figure GDA00036327152900000412
以及所述直线s′2的截距
Figure GDA00036327152900000413
According to the coordinates of the intersection point p' 3 and the intersection point p' 4 , calculate the slope of the straight line s ' 2 where the second side of the tile tnt to be laid is located
Figure GDA00036327152900000411
The angle between the straight line s' 2 and the X R axis
Figure GDA00036327152900000412
and the intercept of the line s' 2
Figure GDA00036327152900000413

Figure GDA00036327152900000414
Figure GDA00036327152900000414

Figure GDA00036327152900000415
Figure GDA00036327152900000415

Figure GDA00036327152900000416
Figure GDA00036327152900000416

计算出所述顶点n′i的坐标

Figure GDA00036327152900000417
Calculate the coordinates of the vertex n' i
Figure GDA00036327152900000417

Figure GDA00036327152900000418
Figure GDA00036327152900000418

Figure GDA00036327152900000419
Figure GDA00036327152900000419

根据所述待铺瓷砖tnt的边长at计算出所述当前中心坐标

Figure GDA00036327152900000420
The current center coordinates are calculated according to the side length a t of the tile tnt to be laid
Figure GDA00036327152900000420

Figure GDA0003632715290000051
Figure GDA0003632715290000051

Figure GDA0003632715290000052
Figure GDA0003632715290000052

较优地，所述根据所述目标中心坐标

Figure GDA0003632715290000053
所述当前中心坐标
Figure GDA0003632715290000054
以及补偿参数计算机器人末端执行铺贴作业的位姿向量 (rxt1pp,ryt1pp,rzt1pp)包括：Preferably, according to the coordinates of the target center
Figure GDA0003632715290000053
the current center coordinates
Figure GDA0003632715290000054
And the compensation parameters to calculate the pose vector (rx t1pp , ry t1pp , rz t1pp ) of the robot end to perform the paving operation include:

xt1pp＝xt1c+xl1tcp+(x′t1c-xl2tcp)-ex x t1pp = x t1c +x l1tcp +(x′ t1c -x l2tcp )-e x

yt1pp＝yt1c+yl1tcp+(y′t1c-yl2tcp)-ey y t1pp =y t1c +y l1tcp +(y′ t1c -y l2tcp )-e y

zt1pp＝zt1c z t1pp = z t1c

rxt1pp＝rxr1p4 rx t1pp = rx r1p4

ryt1pp＝ryr1p4 ry t1pp = ry r1p4

rzt1pp＝rzr1p4+θr1s1-θ′t1s1+erz rz t1pp = rz r1p4 +θ r1s1 -θ′ t1s1 +e rz

其中，θr1s1为所述直线s1与所述XR轴之间的夹角，θ′t1s1为所述直线s′1与所述XR轴之间的夹角，rxr1p4为所述交点p4在所述XR轴的位姿向量，ryr1p4为所述交点p4在所述YR轴的位姿向量。Wherein, θ r1s1 is the angle between the straight line s 1 and the X R axis, θ′ t1s1 is the included angle between the straight line s′ 1 and the X R axis, and rx r1p4 is the intersection point The pose vector of p 4 on the X R axis, ry r1p4 is the pose vector of the intersection point p 4 on the Y R axis.

较优地，所述定点路线激光扫掠操作包括：Preferably, the laser scanning operation of the fixed-point route includes:

根据多片瓷砖不规则叠放情况，将所形成的所述瓷砖堆规定为一边长为as的正方形区域，其中，所述as为所述正方形区域适应所述瓷砖任意角度摆放的最小值：According to the irregular stacking of multiple tiles, the formed tile stack is defined as a square area with a side length a s , wherein the a s is the minimum size of the square area suitable for the tiles to be placed at any angle value:

Figure GDA0003632715290000055
Figure GDA0003632715290000055

Δ1+Δ2＝as Δ 1 + Δ 2 =as

Δ1 2+Δ2 2＝at 2 Δ 1 2 + Δ 2 2 =at 2

Figure GDA0003632715290000056
Figure GDA0003632715290000056

Figure GDA0003632715290000061
Figure GDA0003632715290000061

在瓷砖坐标系中选取点激光扫掠轨迹的7个基准点L1、L2、L3、L4、L5、 L6、L7，In the tile coordinate system, select 7 reference points L 1 , L 2 , L 3 , L 4 , L 5 , L 6 , L 7 of the point laser sweep trajectory,

Figure GDA0003632715290000062
Figure GDA0003632715290000062

Figure GDA0003632715290000063
Figure GDA0003632715290000063

Figure GDA0003632715290000064
Figure GDA0003632715290000064

Figure GDA0003632715290000065
Figure GDA0003632715290000065

Figure GDA0003632715290000066
Figure GDA0003632715290000066

Figure GDA0003632715290000067
Figure GDA0003632715290000067

Figure GDA0003632715290000068
Figure GDA0003632715290000068

其中，点激光在所述基准点L1与所述基准点L2之间扫掠程中经过瓷砖边上的第一交点，所述点激光从所述基准点L3扫掠到所述基准点L4过程中经过瓷砖边上的第二交点，点激光在所述基准点L4与所述基准点L5之间扫掠程中经过瓷砖边上的第三交点，所述点激光从所述基准点L6扫掠到所述基准点L7过程中经过瓷砖边上的第四交点，所述第一交点和所述第二交点位于所述瓷砖的第一边上，所述第三交点和所述第四交点位于所述瓷砖的第二边上，所述第一边与所述第二边为相邻边；Wherein, the point laser passes through the first intersection point on the edge of the tile during the sweeping process between the reference point L1 and the reference point L2, and the point laser sweeps from the reference point L3 to the reference point The point L4 passes through the second intersection on the edge of the tile, and the point laser passes through the third intersection on the tile edge during the sweeping process between the reference point L4 and the reference point L5, and the point laser starts from The reference point L6 passes through the fourth intersection point on the edge of the tile during the sweeping to the reference point L7 , the first intersection point and the second intersection point are located on the first side of the tile, and the first intersection point The third intersection and the fourth intersection are located on the second side of the tile, and the first side and the second side are adjacent sides;

基于所述7个基准点制定点激光扫掠路线；Formulate a point laser sweeping route based on the 7 reference points;

按照所述点激光扫掠路线扫掠所述瓷砖。The tiles are swept along the point laser sweep path.

本发明还提供一种瓷砖自动铺贴控制系统，包括：The present invention also provides a tile automatic paving control system, comprising:

基准中心坐标确认模块，用于对已铺贴于基准位置的基准砖rnr进行定点路线激光扫掠操作，确认所述基准砖rnr的中心点位于机器人坐标系XR-YR下的基准中心坐标

Figure GDA0003632715290000069
The reference center coordinate confirmation module is used to perform a fixed-point laser scanning operation on the reference brick rn r that has been laid at the reference position, and confirm that the center point of the reference brick rn r is located at the reference in the robot coordinate system X R -Y R Center coordinates
Figure GDA0003632715290000069

目标中心坐标计算模块，用于根据所述基准中心坐标

Figure GDA0003632715290000071
相对行数
Figure GDA0003632715290000072
相对列数
Figure GDA0003632715290000073
瓷砖边长at以及瓷砖间距wg计算出下一块待铺瓷砖tnt的目标位置的目标中心坐标
Figure GDA0003632715290000074
所述相对行数
Figure GDA0003632715290000075
为所述待铺瓷砖tnt相对于所述基准砖rnr所处的行数，所述相对列数
Figure GDA0003632715290000076
为所述待铺瓷砖 tnt相对于所述基准砖rnr所处的列数；The target center coordinate calculation module is used for according to the reference center coordinate
Figure GDA0003632715290000071
Relative line count
Figure GDA0003632715290000072
Relative number of columns
Figure GDA0003632715290000073
The tile side length a t and the tile spacing w g calculate the target center coordinates of the target position of the next tile tn t to be laid
Figure GDA0003632715290000074
the relative number of rows
Figure GDA0003632715290000075
is the row number of the tile tn t to be laid relative to the reference tile rn r , and the relative number of columns
Figure GDA0003632715290000076
is the number of columns where the tile tn t to be laid is located relative to the reference tile rn r ;

执行模块，用于从瓷砖堆中吸附一片所述待铺瓷砖tnt；an execution module for adsorbing a tile tn t of the tile to be laid from the tile pile;

当前中心坐标确认模块，用于对所述待铺瓷砖tnt进行所述定点路线激光扫掠操作，计算所述待铺瓷砖tnt的当前中心坐标

Figure GDA0003632715290000077
The current center coordinate confirmation module is used to perform the fixed-point route laser sweep operation on the tile tnt to be laid, and calculate the current center coordinates of the tile tnt to be laid
Figure GDA0003632715290000077

位姿向量计算模块，用于根据所述目标中心坐标

Figure GDA0003632715290000078
所述当前中心坐标
Figure GDA0003632715290000079
以及补偿参数计算机器人末端执行铺贴作业的位姿向量 (rxt1pp,ryt1pp,rzt1pp)，所述补偿参数包括激光测头
Figure GDA00036327152900000710
的点激光在所述机器人坐标系XR-YR所在平面投影到XR轴的距离
Figure GDA00036327152900000711
YR轴的距离
Figure GDA00036327152900000712
还包括由于机器人整体安装偏差所导致的系统误差ex、ey、erz，还包括所述基准砖rnr所在平面与所述待铺瓷砖tnt所在平面的Z轴间距zt1c；The pose vector calculation module is used for according to the target center coordinates
Figure GDA0003632715290000078
the current center coordinates
Figure GDA0003632715290000079
and compensation parameters to calculate the pose vector (rx t1pp , ry t1pp , rz t1pp ) of the end of the robot performing the paving operation, the compensation parameters include the laser probe
Figure GDA00036327152900000710
The distance of the point laser projected from the plane of the robot coordinate system X R -Y R to the X R axis
Figure GDA00036327152900000711
Y- R -axis distance
Figure GDA00036327152900000712
It also includes the system errors ex, ey, erz caused by the overall installation deviation of the robot, and also includes the Z-axis distance z t1c between the plane where the reference tile rn r is located and the plane where the tile tnt to be laid is located;

所述执行模块，用于执行所述位姿向量(rxt1pp,ryt1pp,rzt1pp)，使所述待铺瓷砖tnt铺贴至所述目标中心坐标

Figure GDA00036327152900000713
所对应的所述目标位置。The execution module is used to execute the pose vector (rx t1pp , ry t1pp , rz t1pp ), so that the tile tn t to be laid is paved to the coordinates of the target center
Figure GDA00036327152900000713
the corresponding target position.

较优地，所述基准中心坐标确认模块包括：Preferably, the reference center coordinate confirmation module includes:

基准砖交点坐标获取单元，用于通过定点路线激光扫掠，获取激光轨迹与所述基准砖rnr边上的四个交点的坐标，其中，交点p1和交点p2位于所述基准砖rnr的第一边上，交点p3和交点p4位于所述基准砖rnr的第二边上，所述第一边和所述第二边相交于所述基准砖rnr的顶点ni，所述交点p1的坐标为

Figure GDA00036327152900000714
所述交点p2的坐标为
Figure GDA00036327152900000715
所述交点p3的坐标为
Figure GDA00036327152900000716
所述交点p4的坐标为
Figure GDA00036327152900000717
A reference brick intersection coordinate acquisition unit, configured to obtain the coordinates of the four intersection points on the edge of the laser track and the reference brick rn r by laser sweeping the fixed-point route, wherein the intersection point p 1 and the intersection point p 2 are located in the reference brick rn On the first side of r , the intersection points p3 and p4 are located on the second side of the reference tile rn r , and the first side and the second side intersect at the vertex ni of the reference tile rn r , the coordinates of the intersection point p 1 are
Figure GDA00036327152900000714
The coordinates of the intersection point p2 are
Figure GDA00036327152900000715
The coordinates of the intersection point p3 are
Figure GDA00036327152900000716
The coordinates of the intersection point p4 are
Figure GDA00036327152900000717

基准中心坐标计算单元，用于根据所述交点p1的坐标和所述交点p2的坐标，计算所述第一边所在直线s1的斜率

Figure GDA0003632715290000081
所述直线s1与所述XR轴之间的夹角
Figure GDA0003632715290000082
以及所述直线s1的截距
Figure GDA0003632715290000083
根据所述交点p3的坐标和所述交点p4的坐标，计算所述第二边所在直线s2的斜率
Figure GDA0003632715290000084
所述直线s2与所述XR轴之间的夹角
Figure GDA0003632715290000085
以及所述直线s2的截距
Figure GDA0003632715290000086
根据所述基准砖rnr的边长at、所述斜率
Figure GDA0003632715290000087
所述夹角
Figure GDA0003632715290000088
所述截距
Figure GDA0003632715290000089
所述斜率
Figure GDA00036327152900000810
所述夹角
Figure GDA00036327152900000811
以及所述截距
Figure GDA00036327152900000812
计算出所述基准中心坐标
Figure GDA00036327152900000813
a reference center coordinate calculation unit, configured to calculate the slope of the straight line s 1 where the first side is located according to the coordinates of the intersection point p 1 and the intersection point p 2
Figure GDA0003632715290000081
The angle between the straight line s 1 and the X R axis
Figure GDA0003632715290000082
and the intercept of the line s 1
Figure GDA0003632715290000083
Calculate the slope of the straight line s 2 where the second side is located according to the coordinates of the intersection point p 3 and the intersection point p 4
Figure GDA0003632715290000084
The angle between the straight line s 2 and the X R axis
Figure GDA0003632715290000085
and the intercept of the line s 2
Figure GDA0003632715290000086
According to the side length a t of the reference brick rn r , the slope
Figure GDA0003632715290000087
the included angle
Figure GDA0003632715290000088
the intercept
Figure GDA0003632715290000089
the slope
Figure GDA00036327152900000810
the included angle
Figure GDA00036327152900000811
and the intercept
Figure GDA00036327152900000812
Calculate the coordinates of the reference center
Figure GDA00036327152900000813

所述当前中心坐标确认模块包括：The current center coordinate confirmation module includes:

待铺贴瓷砖交点坐标获取单元，用于通过定点路线激光扫掠，获取激光轨迹与所述待铺瓷砖tnt边上的四个交点的坐标，其中，交点p′1和交点p′2位于所述待铺瓷砖tnt的第一边上，交点p′3和交点p′4位于所述待铺瓷砖tnt的第二边上，所述待铺瓷砖tnt的第一边和所述待铺瓷砖tnt的第二边相交于所述待铺瓷砖tnt的顶点n′i，所述交点p′1的坐标为

Figure GDA00036327152900000814
所述交点p′2的坐标为
Figure GDA00036327152900000815
所述交点p′3的坐标为
Figure GDA00036327152900000816
所述交点p′4的坐标为
Figure GDA00036327152900000817
The coordinate acquisition unit of the intersection point of the tile to be laid is used to obtain the coordinates of the four intersection points of the laser track and the tile tn t on the edge of the tile to be laid through the laser sweep of the fixed-point route, wherein the intersection point p′ 1 and the intersection point p′ 2 are located at On the first side of the tile tnt to be laid, the intersection point p ′ 3 and the point of intersection p ′ 4 are located on the second side of the tile tnt to be laid, the first side of the tile tnt to be laid and the The second edge of the tile tn t to be laid intersects with the vertex n′ i of the tile tnt to be laid, and the coordinates of the intersection point p′ 1 are
Figure GDA00036327152900000814
The coordinates of the intersection point p′ 2 are
Figure GDA00036327152900000815
The coordinates of the intersection point p'3 are
Figure GDA00036327152900000816
The coordinates of the intersection point p'4 are
Figure GDA00036327152900000817

当前中心坐标计算单元，用于根据所述交点p′1的坐标和所述交点p′2的坐标，计算所述待铺瓷砖tnt的第一边所在直线s′1的斜率

Figure GDA00036327152900000818
所述直线s′1与所述XR轴之间的夹角
Figure GDA00036327152900000819
以及所述直线s′1的截距
Figure GDA00036327152900000820
根据所述交点p′3的坐标和所述交点p′4的坐标，计算所述待铺瓷砖tnt的第二边所在直线s′2的斜率
Figure GDA00036327152900000821
所述直线s′2与所述XR轴之间的夹角
Figure GDA00036327152900000822
以及所述直线s′2的截距
Figure GDA00036327152900000823
根据所述基准砖rnr的边长at、所述斜率
Figure GDA00036327152900000824
所述夹角
Figure GDA00036327152900000825
所述截距
Figure GDA00036327152900000826
所述斜率
Figure GDA00036327152900000827
所述夹角
Figure GDA00036327152900000828
以及所述截距
Figure GDA00036327152900000829
计算出所述当前中心坐标
Figure GDA00036327152900000830
The current center coordinate calculation unit is configured to calculate the slope of the straight line s' 1 where the first side of the tile tn t to be laid is located according to the coordinates of the intersection point p' 1 and the intersection point p' 2
Figure GDA00036327152900000818
The angle between the straight line s' 1 and the X R axis
Figure GDA00036327152900000819
and the intercept of the line s' 1
Figure GDA00036327152900000820
According to the coordinates of the intersection point p' 3 and the intersection point p' 4 , calculate the slope of the straight line s ' 2 where the second side of the tile tnt to be laid is located
Figure GDA00036327152900000821
The angle between the straight line s' 2 and the X R axis
Figure GDA00036327152900000822
and the intercept of the line s' 2
Figure GDA00036327152900000823
According to the side length a t of the reference brick rn r , the slope
Figure GDA00036327152900000824
the included angle
Figure GDA00036327152900000825
the intercept
Figure GDA00036327152900000826
the slope
Figure GDA00036327152900000827
the included angle
Figure GDA00036327152900000828
and the intercept
Figure GDA00036327152900000829
Calculate the current center coordinates
Figure GDA00036327152900000830

较优地，所述位姿向量的计算公式为：Preferably, the calculation formula of the pose vector is:

xt1pp＝xt1c+xl1tcp+(x′t1c-xl2tcp)-ex x t1pp = x t1c +x l1tcp +(x′ t1c -x l2tcp )-e x

yt1pp＝yt1c+yl1tcp+(y′t1c-yl2tcp)-ey y t1pp =y t1c +y l1tcp +(y′ t1c -y l2tcp )-e y

zt1pp＝zt1c z t1pp = z t1c

rxt1pp＝rxr1p4 rx t1pp = rx r1p4

ryt1pp＝ryr1p4 ry t1pp = ry r1p4

rzt1pp＝rzr1p4+θr1s1-θ′t1s1+erz rz t1pp = rz r1p4 +θ r1s1 -θ′ t1s1 +e rz

其中，θr1s1为所述直线s1与所述XR轴之间的夹角，θ′t1s1为所述直线s′1与所述XR轴之间的夹角，rxr1p4 为所述交点p4在所述XR轴的位姿向量，ryr1p4为所述交点p4在所述YR轴的位姿向量。Wherein, θ r1s1 is the angle between the straight line s 1 and the X R axis, θ′ t1s1 is the included angle between the straight line s′ 1 and the X R axis, and rx r1p4 is the intersection point The pose vector of p 4 on the X R axis, ry r1p4 is the pose vector of the intersection point p 4 on the Y R axis.

较优地，还包括定点路线激光扫掠模块：Preferably, it also includes a fixed-point route laser scanning module:

用于根据多片瓷砖不规则叠放情况，将所形成的所述瓷砖堆规定为一边长为as的正方形区域，其中，所述as为所述正方形区域适应所述瓷砖任意角度摆放的最小值：It is used to define the formed tile stack as a square area with a side length a s according to the irregular stacking of multiple tiles, wherein the a s is that the square area is suitable for the tiles to be placed at any angle the minimum value of:

Figure GDA0003632715290000091
Figure GDA0003632715290000091

Δ1+Δ2＝as Δ 1 + Δ 2 =as

Δ1 2+Δ2 2＝at 2 Δ 1 2 + Δ 2 2 =at 2

Figure GDA0003632715290000092
Figure GDA0003632715290000092

Figure GDA0003632715290000093
Figure GDA0003632715290000093

还用于在瓷砖坐标系中选取点激光扫掠轨迹的7个基准点L1、L2、L3、L4、 L5、L6、L7，It is also used to select 7 reference points L 1 , L 2 , L 3 , L 4 , L 5 , L 6 , L 7 of the laser sweep trajectory in the tile coordinate system,

Figure GDA0003632715290000094
Figure GDA0003632715290000094

Figure GDA0003632715290000095
Figure GDA0003632715290000095

Figure GDA0003632715290000096
Figure GDA0003632715290000096

Figure GDA0003632715290000101
Figure GDA0003632715290000101

Figure GDA0003632715290000102
Figure GDA0003632715290000102

Figure GDA0003632715290000103
Figure GDA0003632715290000103

Figure GDA0003632715290000104
Figure GDA0003632715290000104

其中，点激光在所述基准点L1与所述基准点L2之间扫掠程中经过瓷砖边上的第一交点，所述点激光从所述基准点L3扫掠到所述基准点L4过程中经过瓷砖边上的第二交点，点激光在所述基准点L4与所述基准点L5之间扫掠程中经过瓷砖边上的第三交点，所述点激光从所述基准点L6扫掠到所述基准点L7过程中经过瓷砖边上的第四交点，所述第一交点和所述第二交点位于所述瓷砖的第一边上，所述第三交点和所述第四交点位于所述瓷砖的第二边上，所述第一边与所述第二边为相邻边；Wherein, the point laser passes through the first intersection point on the tile edge during the sweeping process between the reference point L1 and the reference point L2, and the point laser sweeps from the reference point L3 to the reference point The point L4 passes through the second intersection on the edge of the tile, and the point laser passes through the third intersection on the edge of the tile during the sweeping process between the reference point L4 and the reference point L5, and the point laser starts from During the process of sweeping the reference point L6 to the reference point L7 , it passes through the fourth intersection on the edge of the tile, the first intersection and the second intersection are located on the first edge of the tile, and the first The third intersection and the fourth intersection are located on the second side of the tile, and the first side and the second side are adjacent sides;

还用于基于所述7个基准点制定点激光扫掠路线；It is also used to formulate a point laser sweeping route based on the 7 reference points;

还用于按照所述点激光扫掠路线扫掠所述瓷砖。Also used to sweep the tiles along the point laser sweep path.

由上述技术方案可知，本发明实施例提供的瓷砖铺贴方法和瓷砖自动铺贴控制系统，将瓷砖铺贴工作自动化，能够提高瓷砖铺贴的精确度、平整程度，可减少或者无需现场监工人员，大大降低施工安全事故发生几率，同时提高工作效率。It can be seen from the above technical solutions that the tile paving method and the tile automatic tile paving control system provided by the embodiments of the present invention automate the tile paving work, which can improve the accuracy and smoothness of tile paving, and can reduce or eliminate the need for on-site supervisors. , greatly reducing the probability of construction safety accidents, while improving work efficiency.

附图说明Description of drawings

图1为本发明的瓷砖铺贴方法的流程图。FIG. 1 is a flow chart of the method for laying tiles of the present invention.

图2为本发明的瓷砖自动铺贴控制系统的结构图。FIG. 2 is a structural diagram of the automatic tile laying control system of the present invention.

图3为本发明中对基准砖rnr进行定点路线激光扫掠的效果图。FIG. 3 is an effect diagram of laser scanning on a fixed-point route for the reference brick rn r in the present invention.

图4为本发明中瓷砖堆中瓷砖的摆放位置示意图。FIG. 4 is a schematic diagram of the arrangement position of the tiles in the tile pile according to the present invention.

图5为本发明中激光扫掠轨迹的7个基准点示意图。FIG. 5 is a schematic diagram of 7 reference points of the laser scanning track in the present invention.

具体实施方式Detailed ways

以下结合本发明的附图，对本发明的技术方案以及技术效果做进一步的详细阐述。The technical solutions and technical effects of the present invention will be further elaborated below with reference to the accompanying drawings of the present invention.

本发明提供一种瓷砖铺贴方法，通过机械臂及瓷砖自动铺贴控制系统实现仅将一块瓷砖作为参考基准执行铺贴作业，如图1所示，具体包括以下步骤：The present invention provides a tile paving method, which realizes that only one tile is used as a reference to perform paving operations through a robotic arm and a tile automatic tile paving control system, as shown in FIG. 1 , and specifically includes the following steps:

步骤S1，对已铺贴于基准位置的基准砖rnr进行定点路线激光扫掠操作，确认基准砖rnr的中心点位于机器人坐标系XR-YR下的基准中心坐标

Figure GDA0003632715290000111
Step S1, perform a fixed-point route laser sweep operation on the reference brick rn r that has been laid at the reference position, and confirm that the center point of the reference brick rn r is located at the reference center coordinate under the robot coordinate system X R -Y R
Figure GDA0003632715290000111

步骤S2，根据基准中心坐标

Figure GDA0003632715290000112
相对行数
Figure GDA0003632715290000113
相对列数
Figure GDA0003632715290000114
瓷砖边长at以及瓷砖间距wg计算出下一块待铺瓷砖tnt的目标位置的目标中心坐标
Figure GDA0003632715290000115
相对行数
Figure GDA0003632715290000116
为待铺瓷砖tnt相对于基准砖rnr所处的行数，相对列数
Figure GDA0003632715290000117
为待铺瓷砖tnt相对于基准砖rnr所处的列数；Step S2, according to the reference center coordinates
Figure GDA0003632715290000112
Relative line count
Figure GDA0003632715290000113
Relative number of columns
Figure GDA0003632715290000114
The tile side length a t and the tile spacing w g calculate the target center coordinates of the target position of the next tile tn t to be laid
Figure GDA0003632715290000115
Relative line count
Figure GDA0003632715290000116
is the row number and the relative column number of the tile tn t to be laid relative to the reference tile rn r
Figure GDA0003632715290000117
is the number of columns where the tile tn t to be laid is located relative to the reference tile rn r ;

步骤S3，从瓷砖堆中吸附一片待铺瓷砖tnt；Step S3, adsorb a tile tn t to be laid from the tile pile;

步骤S4，对待铺瓷砖tnt进行定点路线激光扫掠操作，计算待铺瓷砖tnt的当前中心坐标

Figure GDA0003632715290000118
Step S4, the fixed-point route laser scanning operation is performed on the tile tn t to be laid, and the current center coordinates of the tile tn t to be laid are calculated
Figure GDA0003632715290000118

步骤S5，根据目标中心坐标

Figure GDA0003632715290000119
当前中心坐标
Figure GDA00036327152900001110
以及补偿参数计算机器人末端执行铺贴作业的位姿向量(rxt1pp,ryt1pp,rzt1pp)；Step S5, according to the target center coordinates
Figure GDA0003632715290000119
current center coordinates
Figure GDA00036327152900001110
And the compensation parameters to calculate the pose vector (rx t1pp , ry t1pp , rz t1pp ) of the end of the robot performing the paving operation;

步骤S6，执行位姿向量(rxt1pp,ryt1pp,rzt1pp)，使待铺瓷砖tnt铺贴至目标中心坐标

Figure GDA00036327152900001111
所对应的目标位置。Step S6, execute the pose vector (rx t1pp , ry t1pp , rz t1pp ), so that the tile tn t to be laid is paved to the target center coordinates
Figure GDA00036327152900001111
the corresponding target location.

如图3所示，步骤S1通过扫掠方式A或扫掠方式B对基准砖rnr进行定点路线激光扫掠，可在基准砖rnr上相邻两边上产生四个交点，其中，交点p1和交点p2位于基准砖rnr的第一边上，交点p3和交点p4位于基准砖rnr的第二边上，第一边和第二边相交于基准砖rnr的顶点ni，交点p1的坐标为

Figure GDA00036327152900001112
交点p2的坐标为
Figure GDA00036327152900001113
交点p3的坐标为
Figure GDA00036327152900001114
交点p4的坐标为
Figure GDA0003632715290000121
As shown in Fig. 3, step S1 performs a fixed-point laser sweep on the reference brick rn r by sweeping method A or sweeping method B, which can generate four intersection points on the adjacent two sides of the reference brick rn r , among which, the intersection point p 1 and intersection p 2 are located on the first edge of datum brick rn r , intersection p 3 and intersection p 4 are on the second edge of datum brick rn r , and the first and second sides intersect at vertex n of datum brick rn r i , the coordinates of the intersection point p 1 are
Figure GDA00036327152900001112
The coordinates of the intersection point p2 are
Figure GDA00036327152900001113
The coordinates of the intersection point p3 are
Figure GDA00036327152900001114
The coordinates of the intersection point p4 are
Figure GDA0003632715290000121

根据交点p1的坐标和交点p2的坐标，可计算第一边所在直线s1的斜率

Figure GDA0003632715290000122
直线s1与XR轴之间的夹角
Figure GDA0003632715290000123
以及直线s1的截距
Figure GDA0003632715290000124
According to the coordinates of the intersection point p 1 and the intersection point p 2 , the slope of the straight line s 1 where the first side is located can be calculated
Figure GDA0003632715290000122
The angle between the line s 1 and the X R axis
Figure GDA0003632715290000123
and the intercept of the line s 1
Figure GDA0003632715290000124

Figure GDA0003632715290000125
Figure GDA0003632715290000125

Figure GDA0003632715290000126
Figure GDA0003632715290000126

Figure GDA0003632715290000127
Figure GDA0003632715290000127

根据交点p3的坐标和交点p4的坐标，计算第二边所在直线s2的斜率

Figure GDA0003632715290000128
直线s2与XR轴之间的夹角
Figure GDA0003632715290000129
以及直线s2的截距
Figure GDA00036327152900001210
Calculate the slope of the straight line s 2 where the second side is located according to the coordinates of the intersection point p 3 and the intersection point p 4
Figure GDA0003632715290000128
The angle between the line s 2 and the X R axis
Figure GDA0003632715290000129
and the intercept of the line s2
Figure GDA00036327152900001210

Figure GDA00036327152900001211
Figure GDA00036327152900001211

Figure GDA00036327152900001212
Figure GDA00036327152900001212

Figure GDA00036327152900001213
Figure GDA00036327152900001213

计算出顶点ni的坐标

Figure GDA00036327152900001214
Calculate the coordinates of vertex n i
Figure GDA00036327152900001214

Figure GDA00036327152900001215
Figure GDA00036327152900001215

Figure GDA00036327152900001216
Figure GDA00036327152900001216

根据基准砖rnr的边长at计算出基准中心坐标

Figure GDA00036327152900001217
Calculate the coordinates of the reference center according to the side length at t of the reference brick rn r
Figure GDA00036327152900001217

Figure GDA00036327152900001218
Figure GDA00036327152900001218

Figure GDA00036327152900001219
Figure GDA00036327152900001219

步骤S2，根据基准中心坐标

Figure GDA00036327152900001220
相对行数
Figure GDA00036327152900001221
相对列数
Figure GDA00036327152900001222
瓷砖边长at以及瓷砖间距wg计算出下一块待铺瓷砖tnt的目标位置的目标中心坐标
Figure GDA00036327152900001223
的计算公式为：Step S2, according to the reference center coordinates
Figure GDA00036327152900001220
Relative line count
Figure GDA00036327152900001221
Relative number of columns
Figure GDA00036327152900001222
The tile side length a t and the tile spacing w g calculate the target center coordinates of the target position of the next tile tn t to be laid
Figure GDA00036327152900001223
The calculation formula is:

Figure GDA00036327152900001224
Figure GDA00036327152900001224

Figure GDA0003632715290000131
Figure GDA0003632715290000131

步骤S4对待铺瓷砖tnt进行定点路线激光扫掠操作，计算待铺瓷砖tnt的当前中心坐标

Figure GDA0003632715290000132
的具体实施为：In step S4, the fixed-point route laser scanning operation is performed on the tile tn t to be laid, and the current center coordinates of the tile tn t to be laid are calculated
Figure GDA0003632715290000132
The specific implementation is:

通过定点路线激光扫掠，获取激光轨迹与待铺瓷砖tnt边上的四个交点的坐标，其中，交点p′1和交点p′2位于待铺瓷砖tnt的第一边上，交点p′3和交点p′4位于待铺瓷砖tnt的第二边上，待铺瓷砖tnt的第一边和待铺瓷砖tnt的第二边相交于待铺瓷砖tnt的顶点n′i，交点p′1的坐标为

Figure GDA0003632715290000133
交点p′2的坐标为
Figure GDA0003632715290000134
交点p′3的坐标为
Figure GDA0003632715290000135
交点p′4的坐标为
Figure GDA0003632715290000136
Obtain the coordinates of the four intersection points between the laser trajectory and the tile tn t to be laid by laser sweeping the fixed-point route, wherein the intersection point p′ 1 and the intersection point p′ 2 are located on the first side of the tile tn t to be laid, and the intersection point p ' 3 and the intersection p' 4 are located on the second side of the tile tn t to be laid, and the first side of the tile tn t to be laid and the second side of the tile tn t to be laid intersect at the vertex n′ i of the tile tn t to be laid , the coordinates of the intersection point p′ 1 are
Figure GDA0003632715290000133
The coordinates of the intersection point p′ 2 are
Figure GDA0003632715290000134
The coordinates of the intersection point p′ 3 are
Figure GDA0003632715290000135
The coordinates of the intersection point p′ 4 are
Figure GDA0003632715290000136

根据交点p′1的坐标和交点p′2的坐标，计算待铺瓷砖tnt的第一边所在直线s′1的斜率

Figure GDA0003632715290000137
直线s′1与XR轴之间的夹角
Figure GDA0003632715290000138
以及直线s′1的截距
Figure GDA0003632715290000139
According to the coordinates of the intersection point p' 1 and the intersection point p' 2 , calculate the slope of the straight line s' 1 where the first side of the tile tn t to be laid is located
Figure GDA0003632715290000137
The angle between the line s′ 1 and the X R axis
Figure GDA0003632715290000138
and the intercept of the line s′ 1
Figure GDA0003632715290000139

Figure GDA00036327152900001310
Figure GDA00036327152900001310

Figure GDA00036327152900001311
Figure GDA00036327152900001311

Figure GDA00036327152900001312
Figure GDA00036327152900001312

根据交点p′3的坐标和交点p′4的坐标，计算待铺瓷砖tnt的第二边所在直线s′2的斜率

Figure GDA00036327152900001313
直线s′2与XR轴之间的夹角
Figure GDA00036327152900001314
以及直线s′2的截距
Figure GDA00036327152900001315
According to the coordinates of the intersection point p' 3 and the intersection point p' 4 , calculate the slope of the straight line s' 2 where the second side of the tile tn t to be laid is located
Figure GDA00036327152900001313
The angle between the straight line s′ 2 and the X R axis
Figure GDA00036327152900001314
and the intercept of the line s′ 2
Figure GDA00036327152900001315

Figure GDA00036327152900001316
Figure GDA00036327152900001316

Figure GDA00036327152900001317
Figure GDA00036327152900001317

Figure GDA00036327152900001318
Figure GDA00036327152900001318

计算出顶点n′i的坐标

Figure GDA00036327152900001319
Calculate the coordinates of vertex n' i
Figure GDA00036327152900001319

Figure GDA00036327152900001320
Figure GDA00036327152900001320

Figure GDA00036327152900001321
Figure GDA00036327152900001321

根据待铺瓷砖tnt的边长at计算出基准中心坐标

Figure GDA00036327152900001322
Calculate the coordinates of the reference center according to the side length a t of the tile tn t to be laid
Figure GDA00036327152900001322

Figure GDA0003632715290000141
Figure GDA0003632715290000141

Figure GDA0003632715290000142
Figure GDA0003632715290000142

放置待铺贴瓷砖的瓷砖堆，摆放通常是不整齐的，即使是机械限位摆放也会存在摆放自由度，因此，每次机械臂定点抓取瓷砖时会存在位姿误差，需要在每次抓取后进行位姿偏差的补偿。步骤S5计算机械臂末端所需要执行的最终位姿数据时，采用的补偿参数包括激光测头

Figure GDA0003632715290000143
的点激光在机器人坐标系XR-YR所在平面投影到XR轴的距离
Figure GDA0003632715290000144
YR轴的距离
Figure GDA0003632715290000145
还包括由于机器人整体安装偏差所导致的系统误差ex、ey、erz，还包括基准砖rnr所在平面与待铺瓷砖 tnt所在平面的Z轴间距zt1c。通过瓷砖铺贴的重复性试验确定各个补偿参数值为：xl1tcp＝18.062，yl1tcp＝162.468，xl2tcp＝109.753，yl2tcp＝393.364，ex＝23、ey＝6、erz＝0.25，zt1c＝-465.88。Placing the tile piles to be laid with tiles is usually not neatly placed. Even the mechanical limit placement will have a degree of freedom of placement. Therefore, every time the robotic arm grabs the tiles at a fixed point, there will be a pose error, which requires Compensation for pose bias is performed after each grasp. When calculating the final pose data that needs to be executed at the end of the manipulator in step S5, the compensation parameters used include the laser probe
Figure GDA0003632715290000143
The distance from the projection of the point laser on the plane of the robot coordinate system X R -Y R to the X R axis
Figure GDA0003632715290000144
Y- R -axis distance
Figure GDA0003632715290000145
It also includes the system errors ex, e y , erz caused by the overall installation deviation of the robot, and also includes the Z-axis distance z t1c between the plane where the reference tile rn r is located and the plane where the tile tnt to be laid is located. The values of the compensation parameters determined by the repeatability test of tile laying are: x 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.

根据目标中心坐标

Figure GDA0003632715290000146
当前中心坐标
Figure GDA0003632715290000147
以及补偿参数计算机器人末端执行铺贴作业的位姿向量(rxt1pp,ryt1pp,rzt1pp)的具体计算过程为：According to the target center coordinates
Figure GDA0003632715290000146
current center coordinates
Figure GDA0003632715290000147
And the specific calculation process of the compensation parameters to calculate the pose vector (rx t1pp , ry t1pp , rz t1pp ) of the robot end performing the paving operation is as follows:

xt1pp＝xt1c+xl1tcp+(x′t1c-xl2tcp)-ex (23)x t1pp = x t1c +x l1tcp +(x′ t1c -x l2tcp )-e x (23)

yt1pp＝yt1c+yl1tcp+(y′t1c-yl2tcp)-ey (24)y t1pp =y t1c +y l1tcp +(y′ t1c -y l2tcp )-e y (24)

zt1pp＝zt1c (25)z t1pp = z t1c (25)

rxt1pp＝rxr1p4 (26)rx t1pp = rx r1p4 (26)

ryt1pp＝ryr1p4 (27)ry t1pp = ry r1p4 (27)

rzt1pp＝rzr1p4+θr1s1-θ′t1s1+erz (28)rz t1pp = rz r1p4 +θ r1s1 -θ′ t1s1 +e rz (28)

其中，θr1s1为所述直线s1与所述XR轴之间的夹角，θ′t1s1为所述直线s′1与所述XR轴之间的夹角，rxr1p4为所述交点p4在所述XR轴的位姿向量，ryr1p4为所述交点p4在所述YR轴的位姿向量。Wherein, θ r1s1 is the angle between the straight line s 1 and the X R axis, θ′ t1s1 is the included angle between the straight line s′ 1 and the X R axis, and rx r1p4 is the intersection point The pose vector of p 4 on the X R axis, ry r1p4 is the pose vector of the intersection point p 4 on the Y R axis.

本发明实施例中，对瓷砖的定点路线激光扫掠操作是根据多个瓷砖叠放情况设置的，如图4所示，根据模拟4种瓷砖不规则放置类型，将所形成的瓷砖堆规定为一边长为as的正方形区域，as为正方形区域适应瓷砖任意角度摆放的最小值时，as的取值为：In the embodiment of the present invention, the laser sweeping operation on the fixed-point route of the tiles is set according to the stacking situation of multiple tiles. As shown in FIG. 4 , according to the simulated four types of irregular placement of tiles, the formed tile stack is specified as A square area with a side length of a s , when a s is the minimum value of the square area to fit the tiles at any angle, the value of a s is:

Figure GDA0003632715290000151
Figure GDA0003632715290000151

为了使瓷砖堆中不规则摆放的瓷砖全部能被成功扫掠，对图4中四种摆放方式进行分析，得出如下线段长度关系：In order to make all the irregularly placed tiles in the tile pile to be successfully swept, the four placement methods in Figure 4 are analyzed, and the following line segment length relationships are obtained:

Δ1+Δ2＝as (30)Δ 1 + Δ 2 =as (30)

Δ1 2+Δ2 2＝at 2 (31)Δ 1 2 +Δ 2 2 =a t 2 (31)

根据公式(30)和公式(31)求解，得到Δ1和Δ2的取值：According to formula (30) and formula (31), the values of Δ 1 and Δ 2 are obtained:

Figure GDA0003632715290000152
Figure GDA0003632715290000152

Figure GDA0003632715290000153
Figure GDA0003632715290000153

在瓷砖坐标系中选取点激光扫掠轨迹的7个基准点L1、L2、L3、L4、L5、 L6、L7，七个基准点的坐标如下：In the tile coordinate system, select 7 reference points L 1 , L 2 , L 3 , L 4 , L 5 , L 6 , L 7 of the point laser sweep track. The coordinates of the seven reference points are as follows:

Figure GDA0003632715290000154
Figure GDA0003632715290000154

Figure GDA0003632715290000155
Figure GDA0003632715290000155

Figure GDA0003632715290000156
Figure GDA0003632715290000156

Figure GDA0003632715290000157
Figure GDA0003632715290000157

Figure GDA0003632715290000158
Figure GDA0003632715290000158

Figure GDA0003632715290000159
Figure GDA0003632715290000159

Figure GDA00036327152900001510
Figure GDA00036327152900001510

其中，点激光在基准点L1与基准点L2之间扫掠程中经过瓷砖边上的第一交点，点激光从基准点L3扫掠到基准点L4过程中经过瓷砖边上的第二交点，点激光在基准点L4与基准点L5之间扫掠程中经过瓷砖边上的第三交点，点激光从基准点L6扫掠到基准点L7过程中经过瓷砖边上的第四交点，第一交点和第二交点位于瓷砖的第一边上，第三交点和第四交点位于瓷砖的第二边上，第一边与第二边为相邻边；Among them, the point laser passes through the first intersection on the edge of the tile during the sweeping process between the reference point L1 and the reference point L2, and the point laser passes through the edge of the tile during the sweeping process from the reference point L3 to the reference point L4 . The second intersection point, the point laser passes through the third intersection on the edge of the tile during the sweeping process between the reference point L4 and the reference point L5, and the point laser passes through the tile edge during the sweeping process from the reference point L6 to the reference point L7 The fourth intersection on the tile, the first intersection and the second intersection are located on the first side of the tile, the third intersection and the fourth intersection are located on the second side of the tile, and the first and second sides are adjacent sides;

基于7个基准点制定点激光扫掠路线，可实现对瓷砖堆中瓷砖的自适应操作，如图3所示，扫掠方式A的路径为L1→L2→L4→L3→L4→L5→L7→L6，是由参考瓷砖的上边沿向下边沿进行扫掠，这种方式的好处是统一使用一套记录点位时的电信号标准，从而减少了硬接线的数量以及节省了测量系统IO端口的使用，同时，扫掠方式A会存在较多的空行程，这些空行程的目的是让点激光落点在扫掠开始前回到瓷砖的上表面，确保激光点准确的打在瓷砖表面或者瓷砖外；扫掠方式B的路径为L1→L2→L3→L4→L5→L6→L7，采用了两套扫掠路径及点位记录的电信号标准，即交替使用由瓷砖上边沿至瓷砖下边沿的路径以及反向路径，扫掠方式B会占用双倍的系统接口资源，同时缩短了空行程，提高了扫掠效率。Based on 7 reference points, a point laser sweeping route can be established, which can realize the adaptive operation of the tiles in the tile pile. As shown in Figure 3, the path of sweeping mode A is L 1 →L 2 →L 4 →L 3 →L 4 →L 5 →L 7 →L 6 , which is swept from the upper edge of the reference tile to the lower edge. The advantage of this method is that a set of electrical signal standards for recording points is used uniformly, thereby reducing the hard wiring. The number of and the use of the IO port of the measurement system are saved. At the same time, there will be more idle strokes in the sweeping method A. The purpose of these idle strokes is to let the spot laser drop point return to the upper surface of the tile before the sweep starts, so as to ensure that the laser spot Accurately hit on the surface of the tile or outside the tile; the path of the sweeping method B is L 1 →L 2 →L 3 →L 4 →L 5 →L 6 →L 7 , using two sets of sweeping paths and point records The electrical signal standard, that is, the path from the upper edge of the tile to the lower edge of the tile and the reverse path are alternately used, and the sweeping method B will occupy twice the system interface resources, while shortening the idle stroke and improving the sweeping efficiency.

最后，按照点激光扫掠路线扫掠瓷砖。Finally, the tiles are swept along the point laser sweep route.

采用上述扫掠方式A时，也可以只选取L1、L4、L7三个点作为激光扫掠的基准点，L2、L3、L5、L6四点则可以通过机器人收到激光下降沿信号后立即停止该段的运动的方式，尽可能地靠近瓷砖边沿，从而缩短激光扫掠行程，提高瓷砖铺贴效率，这种方式除了具有自适应的能力外，还具有根据待铺贴瓷砖具体摆放位姿进一步调整激光扫掠策略的自适应能力。When the above sweeping method A is used, only three points L 1 , L 4 , and L 7 can be selected as the reference points for laser sweeping, and four points L 2 , L 3 , L 5 , and L 6 can be received by the robot. The method of stopping the movement of the segment immediately after the laser falling edge signal, as close as possible to the edge of the tile, thereby shortening the laser sweeping stroke and improving the efficiency of tile laying. The specific placement of the tiles further adjusts the adaptive ability of the laser scanning strategy.

如图2所示，本发明还提供一种瓷砖自动铺贴控制系统，可通过控制机器人实施图1所示的方法，用于实际操作的机器人具有机械臂以及激光扫掠装置，机械臂的末端设置有吸盘。瓷砖自动铺贴控制系统具体包括：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. The robot used for actual operation has a robotic arm and a laser sweeping device. The end of the robotic arm Set with suction cups. The tile automatic paving control system specifically includes:

基准中心坐标确认模块21，用于对已铺贴于基准位置的基准砖rnr进行定点路线激光扫掠操作，确认基准砖rnr的中心点位于机器人坐标系XR-YR下的基准中心坐标

Figure GDA0003632715290000171
The reference center coordinate confirmation module 21 is used to perform a fixed-point route laser scanning operation on the reference brick rn r that has been laid at the reference position, and confirm that the center point of the reference brick rn r is located at the reference center under the robot coordinate system X R -Y R coordinate
Figure GDA0003632715290000171

目标中心坐标计算模块22，用于根据基准中心坐标

Figure GDA0003632715290000172
相对行数
Figure GDA0003632715290000173
相对列数
Figure GDA0003632715290000174
瓷砖边长at以及瓷砖间距wg计算出下一块待铺瓷砖 tnt的目标位置的目标中心坐标
Figure GDA0003632715290000175
相对行数
Figure GDA0003632715290000176
为待铺瓷砖tnt相对于基准砖rnr所处的行数，相对列数
Figure GDA0003632715290000177
为待铺瓷砖tnt相对于基准砖rnr所处的列数；The target center coordinate calculation module 22 is used for according to the reference center coordinate
Figure GDA0003632715290000172
Relative line count
Figure GDA0003632715290000173
Relative number of columns
Figure GDA0003632715290000174
The tile side length a t and the tile spacing w g calculate the target center coordinates of the target position of the next tile tn t to be laid
Figure GDA0003632715290000175
Relative line count
Figure GDA0003632715290000176
is the row number and the relative column number of the tile tn t to be laid relative to the reference tile rn r
Figure GDA0003632715290000177
is the number of columns where the tile tn t to be laid is located relative to the reference tile rn r ;

执行模块23，用于从瓷砖堆中吸附一片待铺瓷砖tnt；The execution module 23 is used for adsorbing a tile tnt to be laid from the tile pile;

当前中心坐标确认模块24，用于对待铺瓷砖tnt进行定点路线激光扫掠操作，计算待铺瓷砖tnt的当前中心坐标

Figure GDA0003632715290000178
The current center coordinate confirmation module 24 is used to perform a fixed-point route laser sweep operation on the tile tn t to be laid, and calculate the current center coordinates of the tile tn t to be laid
Figure GDA0003632715290000178

位姿向量计算模块25，用于根据目标中心坐标

Figure GDA0003632715290000179
当前中心坐标
Figure GDA00036327152900001710
以及补偿参数计算机器人末端执行铺贴作业的位姿向量 (rxt1pp,ryt1pp,rzt1pp)，其中，补偿参数包括激光测头
Figure GDA00036327152900001711
的点激光在机器人坐标系XR-YR所在平面投影到XR轴的距离
Figure GDA00036327152900001712
YR轴的距离
Figure GDA00036327152900001713
还包括由于机器人整体安装偏差所导致的系统误差ex、ey、erz，还包括基准砖rnr所在平面与待铺瓷砖tnt所在平面的Z轴间距zt1c；The pose vector calculation module 25 is used for according to the target center coordinates
Figure GDA0003632715290000179
current center coordinates
Figure GDA00036327152900001710
and the compensation parameters to calculate the pose vector (rx t1pp , ry t1pp , rz t1pp ) of the robot end performing the paving operation, wherein the compensation parameters include the laser probe
Figure GDA00036327152900001711
The distance from the projection of the point laser on the plane of the robot coordinate system X R -Y R to the X R axis
Figure GDA00036327152900001712
Y- R -axis distance
Figure GDA00036327152900001713
It also includes the system errors ex, ey, erz caused by the overall installation deviation of the robot, and also includes the Z-axis distance z t1c between the plane where the reference brick rn r is located and the plane where the tile tnt t is to be laid;

执行模块23，用于执行位姿向量(rxt1pp,ryt1pp,rzt1pp)，使待铺瓷砖tnt铺贴至目标中心坐标

Figure GDA00036327152900001714
所对应的目标位置。The execution module 23 is used to execute the pose vector (rx t1pp , ry t1pp , rz t1pp ), so that the tile tn t to be laid is paved to the target center coordinate
Figure GDA00036327152900001714
the corresponding target location.

定点路线激光扫掠模块26，用于根据模拟瓷砖无规则摆放情况制定基于7 个基准点的点激光扫掠路线，扫掠瓷砖。7个基准点的选择方式如前述方案所述，点激光扫掠路线如图3所示。The fixed-point route laser sweeping module 26 is used to formulate a point laser sweeping route based on 7 reference points according to the irregular placement of the simulated tiles, and sweep the tiles. The selection method of the 7 reference points is as described in the previous scheme, and the point laser scanning route is shown in Figure 3.

具体的，基准中心坐标确认模块21包括：Specifically, the reference center coordinate confirmation module 21 includes:

基准砖交点坐标获取单元211，用于通过定点路线激光扫掠，获取激光轨迹与基准砖rnr边上的四个交点的坐标，其中，交点p1和交点p2位于基准砖rnr的第一边上，交点p3和交点p4位于基准砖rnr的第二边上，第一边和第二边相交于基准砖rnr的顶点ni，交点p1的坐标为

Figure GDA0003632715290000181
交点p2的坐标为
Figure GDA0003632715290000182
交点p3的坐标为
Figure GDA0003632715290000183
交点p4的坐标为
Figure GDA0003632715290000184
The reference brick intersection coordinate acquisition unit 211 is used to obtain the coordinates of the four intersection points on the edge of the laser track and the reference brick rn r through the laser sweep of the fixed-point route, wherein the intersection point p 1 and the intersection point p 2 are located at the first point of the reference brick rn r . On one side, the intersection points p3 and p4 are located on the second side of the reference brick rnr , the first and second sides intersect at the vertex ni of the reference brick rnr , and the coordinates of the intersection point p1 are
Figure GDA0003632715290000181
The coordinates of the intersection point p2 are
Figure GDA0003632715290000182
The coordinates of the intersection point p3 are
Figure GDA0003632715290000183
The coordinates of the intersection point p4 are
Figure GDA0003632715290000184

基准中心坐标计算单元212，用于根据交点p1的坐标和交点p2的坐标，计算第一边所在直线s1的斜率

Figure GDA0003632715290000185
直线s1与XR轴之间的夹角
Figure GDA0003632715290000186
以及直线 s1的截距
Figure GDA0003632715290000187
根据交点p3的坐标和交点p4的坐标，计算第二边所在直线s2的斜率
Figure GDA0003632715290000188
直线s2与XR轴之间的夹角
Figure GDA0003632715290000189
以及直线s2的截距
Figure GDA00036327152900001810
根据基准砖rnr的边长at、斜率
Figure GDA00036327152900001811
夹角
Figure GDA00036327152900001812
截距
Figure GDA00036327152900001813
斜率
Figure GDA00036327152900001814
夹角
Figure GDA00036327152900001815
以及截距
Figure GDA00036327152900001816
计算出基准中心坐标
Figure GDA00036327152900001817
计算过程可参照本发明前述的方法。The reference center coordinate calculation unit 212 is configured to calculate the slope of the straight line s 1 where the first side is located according to the coordinates of the intersection point p 1 and the intersection point p 2
Figure GDA0003632715290000185
The angle between the line s 1 and the X R axis
Figure GDA0003632715290000186
and the intercept of the line s 1
Figure GDA0003632715290000187
Calculate the slope of the straight line s 2 where the second side is located according to the coordinates of the intersection point p 3 and the intersection point p 4
Figure GDA0003632715290000188
The angle between the line s 2 and the X R axis
Figure GDA0003632715290000189
and the intercept of the line s2
Figure GDA00036327152900001810
According to the side length a t and the slope of the reference brick rn r
Figure GDA00036327152900001811
included angle
Figure GDA00036327152900001812
intercept
Figure GDA00036327152900001813
slope
Figure GDA00036327152900001814
included angle
Figure GDA00036327152900001815
and the intercept
Figure GDA00036327152900001816
Calculate the datum center coordinates
Figure GDA00036327152900001817
The calculation process may refer to the aforementioned method of the present invention.

当前中心坐标确认模块22包括：The current center coordinate confirmation module 22 includes:

待铺贴瓷砖交点坐标获取单元221，用于通过定点路线激光扫掠，获取激光轨迹与待铺瓷砖tnt边上的四个交点的坐标，其中，交点p′1和交点p′2位于待铺瓷砖tnt的第一边上，交点p′3和交点p′4位于待铺瓷砖tnt的第二边上，待铺瓷砖tnt的第一边和待铺瓷砖tnt的第二边相交于待铺瓷砖tnt的顶点n′i，交点p′1的坐标为

Figure GDA00036327152900001818
交点p′2的坐标为
Figure GDA00036327152900001819
交点p′3的坐标为
Figure GDA00036327152900001820
交点p′4的坐标为
Figure GDA00036327152900001821
The coordinate acquisition unit 221 of the intersection point of the tile to be laid is used to obtain the coordinates of the four intersection points between the laser track and the tile tn t on the edge of the tile to be laid through the laser sweep of the fixed-point route, wherein the intersection point p′ 1 and the intersection point p′ 2 are located at On the first side of the tile tn t , the intersection point p′ 3 and the intersection point p′ 4 are located on the second side of the tile tn t to be laid, the first side of the tile tn t to be laid and the second side of the tile tn t to be laid It intersects the vertex n' i of the tile tn t to be laid, and the coordinate of the intersection p' 1 is
Figure GDA00036327152900001818
The coordinates of the intersection point p′ 2 are
Figure GDA00036327152900001819
The coordinates of the intersection point p′ 3 are
Figure GDA00036327152900001820
The coordinates of the intersection point p′ 4 are
Figure GDA00036327152900001821

当前中心坐标计算单元222，用于根据交点p′1的坐标和交点p′2的坐标，计算待铺瓷砖tnt的第一边所在直线s′1的斜率

Figure GDA00036327152900001822
直线s′1与XR轴之间的夹角
Figure GDA00036327152900001823
以及直线s′1的截距
Figure GDA00036327152900001824
根据交点p′3的坐标和交点p′4的坐标，计算待铺瓷砖tnt的第二边所在直线s′2的斜率
Figure GDA0003632715290000191
直线s′2与XR轴之间的夹角
Figure GDA0003632715290000192
以及直线s′2的截距
Figure GDA0003632715290000193
根据基准砖rnr的边长at、斜率
Figure GDA0003632715290000194
夹角
Figure GDA0003632715290000195
截距
Figure GDA0003632715290000196
斜率
Figure GDA0003632715290000197
夹角
Figure GDA0003632715290000198
以及截距
Figure GDA0003632715290000199
计算出基准中心坐标
Figure GDA00036327152900001910
计算过程可参照本发明前述的方法。The current center coordinate calculation unit 222 is configured to calculate the slope of the straight line s' 1 where the first side of the tile tn t to be laid is located according to the coordinates of the intersection point p' 1 and the intersection point p' 2
Figure GDA00036327152900001822
The angle between the line s′ 1 and the X R axis
Figure GDA00036327152900001823
and the intercept of the line s′ 1
Figure GDA00036327152900001824
According to the coordinates of the intersection point p' 3 and the intersection point p' 4 , calculate the slope of the straight line s' 2 where the second side of the tile tn t to be laid is located
Figure GDA0003632715290000191
The angle between the straight line s′ 2 and the X R axis
Figure GDA0003632715290000192
and the intercept of the line s′ 2
Figure GDA0003632715290000193
According to the side length a t and the slope of the reference brick rn r
Figure GDA0003632715290000194
included angle
Figure GDA0003632715290000195
intercept
Figure GDA0003632715290000196
slope
Figure GDA0003632715290000197
included angle
Figure GDA0003632715290000198
and the intercept
Figure GDA0003632715290000199
Calculate the datum center coordinates
Figure GDA00036327152900001910
The calculation process may refer to the aforementioned method of the present invention.

本发明实施例提供的瓷砖铺贴方法和瓷砖自动铺贴控制系统，采用激光传感器进行测量，成本低廉、且测量精度高；利用机械臂及瓷砖自动铺贴控制系统，可解决铺砖位置精度低的问题，还可以实现24小时不间断的安装，提高铺贴工作执行速度；实现了自动化控制，可以减少或者无需现场施工人员，大大降低了用人成本、以及施工安全事故发生几率。The tile laying method and the tile automatic tile laying control system provided by the embodiments of the present invention use a laser sensor for measurement, which has low cost and high measurement accuracy; the use of a robotic arm and a tile automatic tile laying control system can solve the problem of low tile laying position accuracy It can also achieve 24-hour uninterrupted installation and improve the execution speed of paving work; realize automatic control, which can reduce or eliminate the need for on-site construction personnel, greatly reducing the cost of employment and the probability of construction safety accidents.

以上所揭露的仅为本发明较佳实施例而已，当然不能以此来限定本发明之权利范围，本领域普通技术人员可以理解实现上述实施例的全部或部分流程，并依本发明权利要求所作的等同变化，仍属于发明所涵盖的范围。The above disclosures are only the preferred embodiments of the present invention, and of course, the scope of the rights of the present invention cannot be limited by this. Those of ordinary skill in the art can understand all or part of the procedures for realizing the above-mentioned embodiments, and make the claims according to the present invention. The equivalent changes of the invention still belong to the scope covered by the invention.

Claims (8)

1. A method of laying tiles, comprising:
for the reference brick rn laid on the reference positionrPerforming a fixed-point path laser scanning operation to confirm the reference brick rnrIs located in the robot coordinate system XR-YRCenter of reference coordinates of
Figure FDA0003632715280000011
According to the reference center coordinates
Figure FDA0003632715280000012
Relative line number
Figure FDA0003632715280000013
Relative number of rows
Figure FDA0003632715280000014
Side length a of ceramic tiletAnd tile spacing wgCalculating the next tile to be paved tntTarget center coordinates of the target position of
Figure FDA0003632715280000015
The relative line number
Figure FDA0003632715280000016
For the ceramic tile to be spread tntRelative to the reference brick rnrThe number of rows and the number of columns
Figure FDA0003632715280000017
For the ceramic tile to be spread tntRelative to the reference brick rnrThe number of columns;
adsorbing one tile tn to be paved from the tile pilet；
For the ceramic tile to be paved tntPerforming the laser scanning operation of the fixed-point route, and calculating the to-be-paved ceramic tile tntCurrent center coordinates of
Figure FDA0003632715280000018
According to the target center coordinates
Figure FDA0003632715280000019
The current center coordinate
Figure FDA00036327152800000110
And calculating a pose vector (rx) of the tail end of the robot for executing the paving operation by the compensation parametert1pp,ryt1pp,rzt1pp) The compensation parameter comprises a laser measuring head
Figure FDA00036327152800000111
In the robot coordinate system XR-YRProjected on the plane XRDistance of axis
Figure FDA00036327152800000112
YRDistance of axis
Figure FDA00036327152800000113
Also comprises a system error e caused by the integral installation deviation of the robotx、ey、erzAnd also comprises the reference brick rnrThe plane and the tile to be paved tntZ-axis distance Z of the planet1c；
Executing the pose vector (rx)t1pp,ryt1pp,rzt1pp) Making the tile to be tiled tntSpread to the target center coordinates
Figure FDA00036327152800000114
The corresponding target position;
the pair of reference bricks rn already laid on the reference positionsrPerforming a fixed-point path laser scanning operation to confirm the reference brick rnrIs located in the robot coordinate system XR-YRCenter of reference coordinates of
Figure FDA00036327152800000115
The method comprises the following steps: obtaining a laser track and the reference brick rn by laser sweeping of a fixed-point routerCoordinates of four intersection points on the edge, where the intersection point p1And point of intersection p2Is positioned on the reference brick rnrOn the first side of (1), the intersection point p3And point of intersection p4Is positioned on the reference brick rnrThe first edge and the second edge intersect at the reference tile rnrVertex n of (2)iSaid point of intersection p1Has the coordinates of
Figure FDA0003632715280000021
The point of intersection p2Has the coordinates of
Figure FDA0003632715280000022
The point of intersection p3Has the coordinates of
Figure FDA0003632715280000023
The point of intersection p4Has the coordinates of
Figure FDA0003632715280000024
According to the intersection point p1And said intersection point p2Calculating the straight line s on which the first edge is located1Slope of (2)
Figure FDA0003632715280000025
The straight line s1And said XRAngle between axes
Figure FDA0003632715280000026
And the straight line s1Intercept of
Figure FDA0003632715280000027
Figure FDA0003632715280000028
Figure FDA0003632715280000029
Figure FDA00036327152800000210
According to the intersection point p3And said intersection point p4Calculating the straight line s where the second edge is located2Slope of (2)
Figure FDA00036327152800000211
The straight line s2And said XRAngle between axes
Figure FDA00036327152800000212
And the straight line s2Intercept of
Figure FDA00036327152800000213
Figure FDA00036327152800000214
Figure FDA00036327152800000215
Figure FDA00036327152800000216
Calculating the vertex niOf (2)
Figure FDA00036327152800000217
Figure FDA00036327152800000218
Figure FDA00036327152800000219
According to the reference brick rnrSide length of (a)tCalculating the reference center coordinates
Figure FDA00036327152800000220
Figure FDA00036327152800000221
Figure FDA0003632715280000031
2. A tile laying method as claimed in claim 1, wherein said reference center coordinates are determined according to said reference center coordinates
Figure FDA0003632715280000032
Relative line number
Figure FDA0003632715280000033
Relative number of rows
Figure FDA0003632715280000034
Side length a of ceramic tiletAnd tile spacing wgCalculating the next tile to be paved tntTarget center coordinates of the target position of
Figure FDA0003632715280000035
The calculation formula of (c) is:
Figure FDA0003632715280000036
Figure FDA0003632715280000037
3. a tile laying method as claimed in claim 2, wherein said pair of tiles to be laid tntPerforming the laser scanning operation of the fixed-point route, and calculating the to-be-paved ceramic tile tntCurrent center coordinates of
Figure FDA0003632715280000038
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 routetCoordinates of four intersections on the edge, where intersection p'1And intersection point p'2Is positioned on the ceramic tile to be paved tntOn the first side of (2), intersection point p'3And intersection point p'4Is positioned on the ceramic tile to be paved tntOn the second side of said tile to be tiled tntAnd the tile to be tiled tntIs intersected with the tile to be tiled tntVertex n'iOf said intersection p'1Has the coordinates of
Figure FDA0003632715280000039
The intersection point p'2Has the coordinates of
Figure FDA00036327152800000310
The intersection point p'3Has the coordinates of
Figure FDA00036327152800000311
The intersection point p'4Has the coordinates of
Figure FDA00036327152800000312
According to the intersection point p'1And the intersection point p'2Calculating the coordinates of said tile to be tiled tntS 'to the first side of'1Slope of (2)
Figure FDA00036327152800000313
The straight line s'1And said XRAngle between axes
Figure FDA00036327152800000314
And the straight line s'1Intercept of
Figure FDA00036327152800000315
Figure FDA00036327152800000316
Figure FDA00036327152800000317
Figure FDA00036327152800000318
According to the intersection point p'3And the intersection point p'4Calculating the coordinates of said tile to be tiled tntS 'of the second side'2Slope of (2)
Figure FDA00036327152800000319
The straight line s'2And said XRAngle between axes
Figure FDA00036327152800000320
And the straight line s'2Intercept of
Figure FDA0003632715280000041
Figure FDA0003632715280000042
Figure FDA0003632715280000043
Figure FDA0003632715280000044
Calculating the vertex n'iCoordinates of (2)
Figure FDA0003632715280000045
Figure FDA0003632715280000046
Figure FDA0003632715280000047
According to the ceramic tile to be paved tntSide length a oftCalculating the current center coordinates
Figure FDA0003632715280000048
Figure FDA0003632715280000049
Figure FDA00036327152800000410
4. A tile laying method as claimed in claim 3, wherein said target-based centre coordinates are determined from said target-based centre coordinates
Figure FDA00036327152800000411
The current center coordinate
Figure FDA00036327152800000412
And calculating a pose vector (rx) of the tail end of the robot for executing the paving operation by the compensation parametert1pp,ryt1pp,rzt1pp) The method comprises the following steps:
xt1pp＝xt1c+xl1tcp+(x′t1c-xl2tcp)-ex
yt1pp＝yt1c+yl1tcp+(y′t1c-yl2tcp)-ey
zt1pp＝zt1c
rxt1pp＝rxr1p4
ryt1pp＝ryr1p4
rzt1pp＝rzr1p4+θr1s1-θ′t1s1+erz
wherein, thetar1s1Is the straight line s1And said XRAngle between the axes, θ't1s1Is the straight line s'1And said XRAngle between axes, rxr1p4Is the intersection point p4At the XRPose vector of axis, ryr1p4Is the intersection point p4At the YRPose 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 asWherein a issFitting the square area to the minimum value of the tiles placed at any angle:
Figure FDA0003632715280000051
Δ1+Δ2＝as
Δ1 2+Δ2 2＝at 2
Figure FDA0003632715280000052
Figure FDA0003632715280000053
selecting 7 reference points L of point laser scanning track in a tile coordinate system1、L2、L3、L4、L5、L6、L7，
Figure FDA0003632715280000054
Figure FDA0003632715280000055
Figure FDA0003632715280000056
Figure FDA0003632715280000057
Figure FDA0003632715280000058
Figure FDA0003632715280000059
Figure FDA00036327152800000510
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 positionrPerforming a fixed-point path laser scanning operation to confirm the reference brick rnrIs located in the robot coordinate system XR-YRCenter of reference coordinates of
Figure FDA0003632715280000061
A target center coordinate calculation module for calculating the reference center coordinate
Figure FDA0003632715280000062
Relative line number
Figure FDA0003632715280000063
Relative number of rows
Figure FDA0003632715280000064
Side length a of ceramic tiletAnd calculating the space wg between the ceramic tiles to obtain the next ceramic tile to be paved tntTarget center coordinates of the target position of
Figure FDA0003632715280000065
The relative line number
Figure FDA0003632715280000066
For the ceramic tile to be spread tntRelative to the reference brick rnrThe number of rows and the number of columns
Figure FDA0003632715280000067
For the ceramic tile to be spread tntRelative to the reference brick rnrThe number of columns;
an execution module for adsorbing one tile tn to be laid from the tile stackt；
A current central coordinate confirming module for the ceramic tile to be paved tntPerforming the laser scanning operation of the fixed-point route, and calculating the tn of the ceramic tile to be pavedtCurrent center coordinates of
Figure FDA0003632715280000068
A pose vector calculation module for calculating the coordinate of the target center
Figure FDA0003632715280000069
The current center coordinate
Figure FDA00036327152800000610
And calculating a pose vector (rx) of the tail end of the robot for executing the paving operation by the compensation parametert1pp,ryt1pp,rzt1pp) The compensation parameter comprises a laser measuring head
Figure FDA00036327152800000611
In the robot coordinate system XR-YRProjected on the plane XRDistance of axis
Figure FDA00036327152800000612
YRDistance of axis
Figure FDA00036327152800000613
And also includes a system error e caused by the integral installation deviation of the robotx、ey、erzAnd also comprises the reference brick rnrThe plane and the tile to be paved tntZ-axis distance Z of the planet1c；
The execution module is used for executing the pose vector (rx)t1pp,ryt1pp,rzt1pp) Making the ceramic tile to be paved tntSpread to the target center coordinates
Figure FDA0003632715280000071
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 routerCoordinates of four intersection points on the edge, wherein the intersection point p1And point of intersection p2Is positioned on the reference brick rnrOn the first side of (1), the intersection point p3And point of intersection p4Is positioned on the reference brick rnrThe first edge and the second edge intersect at the reference tile rnrVertex n ofiSaid point of intersection p1Has the coordinates of
Figure FDA0003632715280000072
The point of intersection p2Has the coordinates of
Figure FDA0003632715280000073
The point of intersection p3Has the coordinates of
Figure FDA0003632715280000074
The point of intersection p4Has the coordinates of
Figure FDA0003632715280000075
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)
Figure FDA0003632715280000076
The straight line s1And said XRAngle between axes
Figure FDA0003632715280000077
And the straight line s1Intercept of
Figure FDA0003632715280000078
According to the intersection point p3And said intersection point p4Calculating the straight line s where the second edge is located2Slope of (2)
Figure FDA0003632715280000079
The straight line s2And said XRAngle between axes
Figure FDA00036327152800000710
And the straight line s2Intercept of
Figure FDA00036327152800000711
According to the reference brick rnrSide length of (a)tThe slope
Figure FDA00036327152800000712
The angle
Figure FDA00036327152800000713
The intercept
Figure FDA00036327152800000714
The slope
Figure FDA00036327152800000715
The angle
Figure FDA00036327152800000716
And the intercept
Figure FDA00036327152800000717
Calculating the reference center coordinates
Figure FDA00036327152800000718
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 routetCoordinates of four intersections on the edge, where intersection p'1And intersection point p'2Is located atThe to-be-paved ceramic tile tntOn the first side of (2), intersection point p'3And intersection point p'4Is positioned on the ceramic tile to be paved tntOn the second side of said tile to be tiled tntAnd the tile to be tiled tntIs intersected with the tile to be tiled tntVertex n'iAnd the intersection p'1Has the coordinates of
Figure FDA00036327152800000719
The intersection point p'2Has the coordinates of
Figure FDA00036327152800000720
The intersection point p'3Has the coordinates of
Figure FDA0003632715280000081
The intersection point p'4Has the coordinates of
Figure FDA0003632715280000082
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 tntS 'to the first side'1Slope of (2)
Figure FDA0003632715280000083
The straight line s'1And said XRAngle between axes
Figure FDA0003632715280000084
And the straight line s'1Intercept of
Figure FDA0003632715280000085
According to the intersection point p'3And the intersection point p'4Calculating the coordinates of said tile to be tiled tntS 'of the second side'2Slope of (2)
Figure FDA0003632715280000086
The straight line s'2And said XRAngle between axes
Figure FDA0003632715280000087
And the straight line s'2Intercept of
Figure FDA0003632715280000088
According to the reference brick rnrSide length a oftThe slope
Figure FDA0003632715280000089
The angle
Figure FDA00036327152800000810
Said intercept
Figure FDA00036327152800000811
The slope
Figure FDA00036327152800000812
The angle
Figure FDA00036327152800000813
And the intercept
Figure FDA00036327152800000814
Calculating the current center coordinates
Figure FDA00036327152800000815
7. The automatic tile tiling control system of claim 6, wherein the pose vector is calculated by the formula:
xt1pp＝xt1c+xl1tcp+(x′t1c-xl2tcp)-ex
yt1pp＝yt1c+yl1tcp+(y′t1c-yl2tcp)-ey
zt1pp＝zt1c
rxt1pp＝rxr1p4
ryt1pp＝ryr1p4
rzt1pp＝rzr1p4+θr1s1-θ′t1s1+erz
wherein, thetar1s1Is the straight line s1And said XRAngle between the axes theta't1s1Is the straight line s'1And said XRAngle between axes, rxr1p4Is the intersection point p4At the position XRPose vector of axis, ryr1p4Is the intersection point p4At the YRPose 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 tilessWherein said asThe minimum value for the square area to adapt to any angle of the ceramic tile is as follows:
Figure FDA0003632715280000091
Δ1+Δ2＝as
Δ1 2+Δ22＝at 2
Figure FDA0003632715280000092
Figure FDA0003632715280000093
also for selecting 7 reference points L of the point laser sweep trajectory in the tile coordinate system1、L2、L3、L4、L5、L6、L7，
Figure FDA0003632715280000094
Figure FDA0003632715280000095
Figure FDA0003632715280000096
Figure FDA0003632715280000097
Figure FDA0003632715280000098
Figure FDA0003632715280000099
Figure FDA00036327152800000910
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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