阅读说明：本技术 铺砖装置及其控制方法、计算机可读存储介质 (Tile laying device, control method thereof and computer readable storage medium ) 是由 谭靖喜 王献 于 2021-08-03 设计创作，主要内容包括：本发明公开了一种铺砖装置及其控制方法、计算机可读存储介质,铺砖装置包括机械臂和至少两个执行机构,铺砖装置的控制方法包括获取铺砖装置的执行信息；根据执行信息确定目标执行机构；控制铺砖装置的机械臂连接目标执行机构。本发明技术方案通过获取铺砖装置的执行信息,然后根据执行信息确定目标执行机构,再控制铺砖装置的机械臂连接目标执行机构,以通过一个机械臂可以与至少两个执行机构连接,可以减少机械臂的使用数量,从而降低在铺砖过程中的设备成本。(The invention discloses a tile paving device, a control method thereof and a computer readable storage medium, wherein the tile paving device comprises a mechanical arm and at least two actuating mechanisms; determining a target actuating mechanism according to the actuating information; and a mechanical arm for controlling the brick paving device is connected with the target executing mechanism. According to the technical scheme, the execution information of the brick paving device is obtained, the target execution mechanism is determined according to the execution information, and the mechanical arm of the brick paving device is controlled to be connected with the target execution mechanism, so that the mechanical arm can be connected with at least two execution mechanisms, the using number of the mechanical arms can be reduced, and the equipment cost in the brick paving process is reduced.)

1. A control method of a tile paving device is characterized in that the tile paving device comprises a mechanical arm and at least two actuating mechanisms, and the control method of the tile paving device comprises the following steps:

acquiring execution information of the tile paving device;

determining a target actuating mechanism according to the actuating information;

and the mechanical arm for controlling the brick paving device is connected with the target executing mechanism.

2. The method of controlling a tile work apparatus according to claim 1, wherein each of the actuators is provided with an identifier for identifying the actuator, and wherein the step of controlling the robot arm of the tile work apparatus to connect to the target actuator further comprises:

acquiring identification information based on a marker on the target execution mechanism;

determining whether the target execution mechanism is matched with an execution mechanism controlled correspondingly by the execution information according to the identification information;

if the matching is carried out, controlling the mechanical arm to execute the execution information;

if not, outputting alarm prompt information and entering a standby state.

3. The method of controlling a tile work apparatus according to claim 2, wherein when the target actuator is a mortar spraying mechanism, the step of controlling the robot arm to execute the execution information includes:

obtaining the state of the mortar in the mortar spraying and smearing mechanism;

judging whether the mortar state is matched with a preset target mortar state corresponding to the execution information;

if not, outputting alarm prompt information and entering a standby state.

4. The method of controlling a tile paving apparatus according to claim 2, wherein when the target actuator is a tile paving mechanism, the step of controlling the robot arm to execute the execution information includes:

controlling the brick paving mechanism to grab bricks to be paved and moving the bricks to be paved to a target position according to target pose parameters;

acquiring a first position parameter of the brick to be laid and a second position parameter of the laid brick;

correcting the pose of the brick to be paved at the target position according to the first pose parameter and the second pose parameter;

and controlling the brick paving mechanism to pave the bricks to be paved at the target position.

5. The method of controlling a tile installation according to claim 4, wherein the step of correcting the pose of the tile to be laid at the target position in accordance with the first and second pose parameters comprises:

if the first position and posture parameter is not matched with the second position and posture parameter, determining a position and posture adjustment value of the brick to be paved according to the difference value of the first position and posture parameter and the second position and posture parameter;

and correcting the pose of the brick to be paved at the target position according to the pose adjustment value.

6. The method of controlling a tile paving apparatus according to claim 1, wherein the step of acquiring execution information of the tile paving apparatus comprises:

acquiring preset initial execution information and current pose parameters of the mechanical arm;

and correcting the preset initial execution information by adopting the current pose parameter to form the execution information.

7. The method of controlling a tile work apparatus according to claim 6, wherein the step of acquiring the current pose parameters of the robot arm further comprises:

controlling the tile paving device to move to a preset position according to the preset initial execution information;

judging whether the current pose parameter is matched with the target pose parameter of the mechanical arm in the preset initial execution information;

and if not, adjusting the current pose parameters of the mechanical arm according to the target pose parameters.

8. The control method of a tile work apparatus according to claim 7, wherein the current pose parameter includes at least one of a height, a direction, and an inclination angle of the robot arm.

9. A tile work apparatus, characterized in that the tile work apparatus comprises a memory and a processor, the memory having stored thereon a control program of the tile work apparatus, which control program, when executed by the processor, carries out the steps of the control method of the tile work apparatus according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a control program of a tile paving apparatus, which when executed by a processor implements the steps of the control method of a tile paving apparatus as claimed in any one of claims 1 to 8.

Technical Field

The invention relates to the technical field of building construction, in particular to a brick paving device, a control method thereof and a computer readable storage medium.

Background

At present, in the field of building construction, mortar spraying equipment is used for spraying mortar, and then brick paving is carried out by brick paving equipment, so that the mortar spraying and brick paving are respectively completed by the operation of two mechanical arms, which is inconvenient, and the total cost of the mortar spraying and brick paving is increased.

Disclosure of Invention

The invention mainly aims to provide a brick paving device, a control method thereof and a computer readable storage medium, and aims to solve the technical problems of mortar spraying and smearing and high brick paving cost.

In order to achieve the above object, the present invention provides a control method of a tile paving device, the tile paving device including a robot arm and at least two actuators, the control method of the tile paving device including:

acquiring execution information of the tile paving device;

determining a target actuating mechanism according to the actuating information;

and the mechanical arm for controlling the brick paving device is connected with the target executing mechanism.

Optionally, each of the actuators is provided with an identifier for identifying the actuator, and after the step of controlling the mechanical arm of the tile paving device to connect to the target actuator, the method further includes:

acquiring identification information based on a marker on the target execution mechanism;

determining whether the target execution mechanism is matched with an execution mechanism controlled correspondingly by the execution information according to the identification information;

if the matching is carried out, controlling the mechanical arm to execute the execution information;

if not, outputting alarm prompt information and entering a standby state.

Optionally, when the target execution mechanism is a mortar spraying and plastering mechanism, the step of controlling the mechanical arm to execute the execution information includes:

obtaining the state of the mortar in the mortar spraying and smearing mechanism;

judging whether the mortar state is matched with a preset target mortar state corresponding to the execution information;

if not, outputting alarm prompt information and entering a standby state.

Optionally, when the target execution mechanism is a tile paving mechanism, the step of controlling the mechanical arm to execute the execution information includes:

controlling the brick paving mechanism to grab bricks to be paved and moving the bricks to be paved to a target position according to target pose parameters;

acquiring a first position parameter of the brick to be laid and a second position parameter of the laid brick;

correcting the pose of the brick to be paved at the target position according to the first pose parameter and the second pose parameter;

and controlling the brick paving mechanism to pave the bricks to be paved at the target position.

Optionally, the step of correcting the pose of the brick to be laid at the target position in accordance with the first and second pose parameters comprises:

if the first position and posture parameter is not matched with the second position and posture parameter, determining a position and posture adjustment value of the brick to be paved according to the difference value of the first position and posture parameter and the second position and posture parameter;

and correcting the pose of the brick to be paved at the target position according to the pose adjustment value.

Optionally, the step of acquiring the execution information of the tile paving device includes:

acquiring preset initial execution information and current pose parameters of the mechanical arm;

and correcting the preset initial execution information by adopting the current pose parameter to form the execution information.

Optionally, the step of acquiring the current pose parameters of the mechanical arm further includes:

controlling the tile paving device to move to a preset position according to the preset initial execution information;

judging whether the current pose parameter is matched with the target pose parameter of the mechanical arm in the preset initial execution information;

and if not, adjusting the current pose parameters of the mechanical arm according to the target pose parameters.

Optionally, the current pose parameter comprises at least one of a height, a direction, and an inclination of the robotic arm.

In addition, the invention also provides a tile paving device, which comprises a memory and a processor, wherein the memory stores a control program of the tile paving device, and the control program of the tile paving device realizes the steps of the control method of the tile paving device according to any one of the technical schemes when being executed by the processor.

Furthermore, the present invention also provides a computer-readable storage medium, in which a control program of a tile paving apparatus is stored, and when the control program of the tile paving apparatus is executed by a processor, the steps of the control method of the tile paving apparatus according to any one of the above technical solutions are implemented.

According to the embodiment of the invention, the execution information of the tile paving device is acquired, the target execution mechanism is determined according to the execution information, and the mechanical arm of the tile paving device is controlled to be connected with the target execution mechanism, so that the mechanical arm can be connected with at least two execution mechanisms, the use number of the mechanical arms can be reduced, and the equipment cost in the tile paving process is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic view of the construction of one embodiment of the tile installation of the present invention;

FIG. 2 is a schematic view of a portion of the structure of FIG. 1;

FIG. 3 is a schematic structural diagram of the male and female switch assemblies of FIG. 1;

FIG. 4 is a schematic structural diagram of the bus bar assembly of FIG. 3;

FIG. 5 is a schematic cross-sectional view of the male assembly of FIG. 3;

FIG. 6 is a schematic structural diagram of a showerhead according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of the hardware operating environment according to an embodiment of the method for controlling the tile installation according to the present invention;

FIG. 8 is a schematic flow chart of an embodiment of a method of controlling a tile installation according to the present invention;

FIG. 9 is a schematic flow chart of another embodiment of a control method of the tile installation according to the present invention;

FIG. 10 is a detailed flowchart of step S60 in FIG. 9;

fig. 11 is another detailed flowchart of step S60 in fig. 9.

The reference numbers illustrate:

the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 7, fig. 7 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention.

The terminal of the embodiment of the invention can be a tile paving device and can also be a controller for controlling the tile paving device.

As shown in fig. 7, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.

Those skilled in the art will appreciate that the terminal structure shown in fig. 7 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.

In one embodiment, as shown in FIG. 7, a memory 1005, which is one type of tile work apparatus, may include an operating system, a network communication module, a user interface module, and a control program for the tile work apparatus.

In the terminal shown in fig. 7, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to invoke a control program for the tile paving apparatus stored in the memory 1005 and perform the following operations:

acquiring execution information of the tile paving device;

determining a target actuating mechanism according to the actuating information;

and the mechanical arm for controlling the brick paving device is connected with the target executing mechanism.

Further, the processor 1001 may call the control program of the tile paving apparatus stored in the memory 1005, and also perform the following operations:

acquiring identification information based on a marker on the target execution mechanism;

determining whether the target execution mechanism is matched with an execution mechanism controlled correspondingly by the execution information according to the identification information;

if the matching is carried out, controlling the mechanical arm to execute the execution information;

if not, outputting alarm prompt information and entering a standby state.

Further, the processor 1001 may call the control program of the tile paving apparatus stored in the memory 1005, and also perform the following operations:

obtaining the state of the mortar in the mortar spraying and smearing mechanism;

judging whether the mortar state is matched with a preset target mortar state corresponding to the execution information;

if not, outputting alarm prompt information and entering a standby state.

Further, the processor 1001 may call the control program of the tile paving apparatus stored in the memory 1005, and also perform the following operations:

controlling the brick paving mechanism to grab bricks to be paved and moving the bricks to be paved to a target position according to target pose parameters;

acquiring a first position parameter of the brick to be laid and a second position parameter of the laid brick;

correcting the pose of the brick to be paved at the target position according to the first pose parameter and the second pose parameter;

and controlling the brick paving mechanism to pave the bricks to be paved at the target position.

Further, the processor 1001 may call the control program of the tile paving apparatus stored in the memory 1005, and also perform the following operations:

if the first position and posture parameter is not matched with the second position and posture parameter, determining a position and posture adjustment value of the brick to be paved according to the difference value of the first position and posture parameter and the second position and posture parameter;

and correcting the pose of the brick to be paved at the target position according to the pose adjustment value.

Further, the processor 1001 may call the control program of the tile paving apparatus stored in the memory 1005, and also perform the following operations:

acquiring preset initial execution information and current pose parameters of the mechanical arm;

and correcting the preset initial execution information by adopting the current pose parameter to form the execution information.

Further, the processor 1001 may call the control program of the tile paving apparatus stored in the memory 1005, and also perform the following operations:

controlling the tile paving device to move to a preset position according to the preset initial execution information;

judging whether the current pose parameter is matched with the target pose parameter of the mechanical arm in the preset initial execution information;

and if not, adjusting the current pose parameters of the mechanical arm according to the target pose parameters.

The embodiment of the invention provides a brick paving device, as shown in fig. 1 and 2, the brick paving device comprises a mechanical arm 1, at least two actuating mechanisms and at least two female replacing components 3, wherein the actuating end 14 of the mechanical arm 1 is provided with a male replacing component 2, the actuating mechanisms are arranged on the mechanical arm 1, each actuating mechanism is provided with a female replacing component 3, the female replacing components 3 are detachably connected with the male replacing components 2, and the actuating end 14 of the mechanical arm 1 can drive the actuating mechanisms to move through the connection of the male replacing components 2 and the female replacing components 3.

Because prior art all needs independent equipment to realize when carrying out mortar spraying and smearing and tiling, mortar spraying and smearing and tiling need a arm 1 to operate respectively promptly, just can realize mortar spraying and smearing and tiling, and equipment cost when leading to the tiling is higher.

Compared with the prior art, when at least one execution mechanism is a mortar spraying and smearing mechanism and at least one execution mechanism is a brick paving mechanism 4, the mortar spraying and smearing mechanism is connected to the mechanical arm 1 through the connection of the female exchange component 3 and the male exchange component 2 on the mechanical arm 1, the mortar spraying and smearing mechanism is connected to the mechanical arm 1 to drive the mortar spraying and smearing mechanism to spray mortar through the mechanical arm 1, and when bricks need to be paved, the female exchange component 3 on the mortar spraying and smearing mechanism can be detached from the male exchange component 2, then, the female replacing component 3 on the brick paving mechanism 4 is connected with the male replacing component 2, so that the brick paving mechanism 4 is driven by the mechanical arm 1 to pave bricks, the mortar spraying mechanism and the brick paving mechanism 4 can be respectively driven by one mechanical arm 1 to execute corresponding operations, the using number of the mechanical arms 1 can be reduced, and the equipment cost during brick paving is reduced; in addition, the execution mechanism is arranged on the mechanical arm 1, so that the execution mechanism and the mechanical arm 1 can be ensured to be in the same motion state, the execution end 14 of the mechanical arm 1 can drive the male exchange component 2 to be connected with the female exchange component 3 on the execution mechanism, and the situation that the execution end 14 of the mechanical arm 1 cannot extend to the position of the female exchange component 3 of the execution mechanism due to the fact that the execution mechanism is too far away from the mechanical arm 1 is avoided.

In an embodiment, as shown in fig. 1, the mechanical arm 1 includes a chassis 11 and a plurality of movable arms 13, a displacement assembly 12 and a placement position are disposed on the chassis 11, the displacement assembly 12 is used for driving the chassis 11 to move, an execution mechanism is disposed on the placement position, the plurality of movable arms 13 are sequentially connected to form an execution end 14 of the mechanical arm 1, one end of the execution end 14 is connected to the chassis 11, and the other end of the execution end 14 is connected to the common exchange assembly 2. The displacement assembly 12 is arranged on the chassis 11, the chassis 11 can be driven to move by the displacement assembly 12, and in the brick paving process, the chassis 11 can be driven by the displacement assembly 12 to automatically move to a position to be paved so as to realize automatic brick paving; the execution mechanism is arranged on the placing position, so that the same motion state of the execution mechanism and the chassis 11 can be ensured, and the execution end 14 of the mechanical arm 1 can be connected with the execution mechanism at any time; the movable arms 13 are sequentially connected to form an execution end 14 of the mechanical arm 1, the execution end 14 has multiple degrees of freedom and can move in multiple spatial dimensions, the switching assembly 2 is arranged at the end of the execution end 14, and the execution mechanism can be driven by the execution end 14 to perform brick laying operation.

In an embodiment, as shown in fig. 1, the displacement assembly 12 is an omni-directional wheel structure, and may also be a steering wheel structure, so that the displacement assembly 12 drives the chassis 11 to freely move in multiple directions.

In an embodiment, the brick paving device further comprises a lifting mechanism, the lifting mechanism is arranged on the base plate 11 and used for driving the base plate 11 to lift, the base plate 11 is conveniently lifted to a proper height through the lifting mechanism to be paved, and when the lifting mechanism is arranged to be multiple, the inclination angle of the base plate 11 can be adjusted.

In this embodiment, as an alternative embodiment, the displacement assembly 12 may be disposed at the bottom of the lifting mechanism.

It is to be understood that the lifting mechanism may be a sliding rail lifting mechanism on the market, and the lifting mechanism is not particularly limited in this embodiment.

In an embodiment, as shown in fig. 1, when at least one of the actuators is the brick laying mechanism 4, the brick laying device further includes an inclination sensor, the inclination sensor is disposed on the actuator 14 of the mechanical arm 1, and the inclination sensor is configured to detect an inclination angle of the chassis 11 and an inclination angle of a brick to be laid that is grabbed by the brick laying mechanism 4, so as to detect whether the chassis 11 is inclined when the chassis 11 moves to a position to be laid, so as to facilitate brick laying, and during brick laying, the inclination sensor may also detect whether the brick to be laid that is grabbed by the brick laying mechanism 4 is inclined, so as to align the brick to be laid that is grabbed by the brick laying mechanism 4 with the brick already laid.

In this embodiment, at least two tilt sensors may be provided, at least one of which is provided on the chassis 11 to detect whether the chassis 11 is tilted, and at least one of which is provided at the actuating end 14 to detect whether a brick to be laid, which is gripped by the brick laying mechanism 4, is aligned with a laid brick.

In an embodiment, as shown in fig. 1, when at least one of the actuators is the brick laying mechanism 4, the brick laying device further includes a laser sensor, the laser sensor is disposed at the actuator end 14 of the mechanical arm 1, and the laser sensor is configured to detect a distance between the chassis 11 and the ground and a distance between a brick to be laid and a position to be laid, which is captured by the brick laying mechanism 4, so as to detect a distance between the chassis 11 and the ground, so as to lift the chassis 11 to a proper height for brick laying operation, and also detect a distance between a brick to be laid and a position to be laid, which is captured by the brick laying mechanism 4, so as to lay the brick to be laid at the position to be laid.

In this embodiment, at least two laser sensors may be provided, at least one of which is provided on the chassis 11 to detect the height of the chassis 11 and at least one of which is provided on the implement end 14 to detect the distance of the brick to be laid to the position to be laid.

In one embodiment, the tile paving device further comprises a marker and a controller, each actuating mechanism is provided with the marker, the controller is arranged on the mechanical arm 1, when one of the female replacing components 3 is connected with the male replacing component 2, the marker on the actuating mechanism connected with the male replacing component 2 is electrically connected with the controller, namely, because the female replacing component 3 is arranged on the actuating mechanism, when the female replacing component 3 is connected with the male replacing component 2, the actuating mechanism can be connected with the male replacing component 2 through the female replacing component 3, meanwhile, the marker on the actuating mechanism connected with the male replacing component 2 is also electrically connected with the controller, so as to obtain the identification code in the marker through the controller, then the controller is utilized to judge whether the actuating mechanism connected with the male replacing component 2 is correct through the identification code, and the tile paving mechanism 4 connected with the male replacing component 2 is prevented from executing mortar spraying and smearing operation, resulting in equipment damage, chipping of the bricks, etc.

It will be appreciated that the controller and the robot arm 1, markers, etc. may be connected via a communications bus or local area network.

In this embodiment, the markers may be valve islands, each valve island is a control component composed of a plurality of electrically controlled valves, specifically, the markers correspond to the parent replacing assemblies 3 one to one, that is, the parent replacing assemblies 3 are encoded by the markers, so that each parent replacing assembly 3 has a unique code, it can be understood that each executing mechanism may further be provided with a plurality of markers, the identification codes of the plurality of markers are the same, and the plurality of markers may be different types of markers; the controller is electrically connected with the tilt angle sensor, the laser sensor, the lifting mechanism and the mechanical arm, so that the controller coordinates all the parts to realize brick paving.

In an embodiment, the brick laying mechanism 4 comprises a grabbing component, the grabbing component is used for grabbing bricks to be laid, specifically, the grabbing component can be a sucker structure, and internal negative pressure is generated in a vacuumizing mode to suck the bricks to be laid.

In one embodiment, the grabbing component is provided with a vibrating driving part, and the vibrating driving part is used for vibrating the grabbing component so as to vibrate the bricks after the bricks are paved, so that the bricks are more fully contacted with the mortar.

In one embodiment, as shown in fig. 6, at least one of the actuators is a mortar spraying mechanism having a nozzle 6, and the female switch assembly 3 is disposed on the nozzle 6 so as to drive the nozzle 6 to move through a mechanical arm.

It will be appreciated that both the bricks to be laid and the mortar are provided on the chassis.

In an embodiment, as shown in fig. 3 to fig. 5, the male replacing assembly 2 includes a lock cylinder 21, a locking member 22 and a driving member 23, the driving member 23 is disposed in the lock cylinder 21, a through hole 211 is disposed on a peripheral side surface of the lock cylinder 21, the locking member 22 is disposed in the through hole 211, the lock cylinder 21 is disposed at the executing end 14 of the mechanical arm 1, the female replacing assembly 3 includes a connecting member, a slot 31 is disposed on the connecting member, a slot 32 is disposed on an inner wall of the slot 31, the connecting member is disposed on the executing mechanism, the lock cylinder 21 can be inserted into the slot 31, so that the locking member 22 is driven by the driving member 23 to extend into or withdraw from the slot 32. When the male replacing component 2 and the female replacing component 3 need to be connected, the execution end 14 drives the male replacing component 2 to move so that the lock cylinder 21 is inserted into the slot 31, and then the driving piece 23 drives the locking piece 22 to extend out of the through hole 211 to the clamping groove 32 so as to clamp the lock cylinder 21 with the connecting piece, so that the male replacing component 2 and the female replacing component 3 are connected; when the male replacing assembly 2 and the female replacing assembly 3 need to be disassembled, the driving piece 23 moves to enable the locking piece 22 to return to the through hole 211 for resetting, so that the lock cylinder 21 is separated from the connecting piece, and the male replacing assembly 2 and the female replacing assembly 3 are disassembled.

It will be appreciated that the drive member 23 may be controlled by a controller.

In an embodiment, as shown in fig. 5, the male switch module 2 further includes a pushing element 24, the pushing element 24 is disposed in the lock cylinder 21, one end of the pushing element 24 is provided with a tapered surface 241, the other end of the pushing element 24 is connected to the driving element 23, the driving element 23 can drive the tapered surface 241 to move so as to press the locking element 22 to extend into the slot 32 or exit from the slot 32, the locking element 22 has a tendency to return to the through hole 211, when the driving element 23 drives the tapered surface 241 of the pushing element 24 to push the locking element 22 to move towards the slot 32, the male switch module 2 can be connected to the female switch module 3, and when the driving element 23 drives the tapered surface 241 to move so as to separate from the locking element 22, the locking element 22 has a tendency to return to the through hole 211, and the male switch module 2 can automatically exit from the slot 32, thereby separating from the female switch module 3.

In the present embodiment, a side of the through hole 211 facing the inside of the key cylinder 21 is an inclined surface to facilitate the locking member 22 to move toward the inside of the key cylinder 21 under its own weight, and when the male switch unit 2 is connected to the female switch unit 3, the tapered surface 241 of the pushing member 24 will abut against the locking member 22 to prevent the locking member 22 from returning to the through hole 211.

In this embodiment, the driving element 23 may be a motor or an air cylinder, which is not limited in this embodiment, and when the driving element 23 is a motor, the driving element 23 can drive the conical surface 242 through a screw rod structure.

In one embodiment, as shown in fig. 3, the lock cylinder 21 is provided with a positioning post 5, and the connecting member is provided with a positioning hole, so that when the lock cylinder 21 is inserted into the slot 31, the positioning post 5 can be inserted into the positioning hole to prevent the male exchange assembly 2 from rotating relative to the female exchange assembly 3.

In an embodiment, the tile paving device further includes a first conductive contact and a second conductive contact, the first conductive contact is disposed on the peripheral side surface of the lock cylinder 21 or the locking member 22, the first conductive contact is electrically connected to the controller, the second conductive contact is correspondingly disposed on the inner wall of the slot 31 or the inner wall of the slot 32, the first conductive contact and the second conductive contact can be contacted and electrically conducted, and the second conductive contact is electrically connected to the identifier, so that when the male switching component 2 is connected to the female switching component 3, the communication connection between the controller and the identifier can be realized, and thus, whether the male switching component 2 is correctly connected to the female switching component 3 is determined by the controller, and the occurrence of a connection error of the executing mechanism is avoided.

In this embodiment, the first conductive contact and/or the second conductive contact are/is an elastic contact, and the elasticity of the first conductive contact and/or the second conductive contact can improve the stability of the electrical connection between the first conductive contact and the second conductive contact.

In an embodiment, the tile paving device further comprises a positioning assembly, the positioning assembly is arranged on the mechanical arm 1, and the positioning assembly is used for positioning the movement position of the mechanical arm 1 so as to determine whether the mechanical arm 1 moves to the preset position.

In this embodiment, the locating component can be GPS positioning system, also can be big dipper positioning system, still can be laser slam positioning system, when paving the brick device and being located outdoors, can use GPS positioning system or big dipper positioning system to carry out the primary localization, when paving the brick device and being located indoors, can use laser slam positioning system to fix a position to select suitable positioning system according to the operating mode of difference, this embodiment does not do specifically and restricts here.

In an embodiment, at least one of the actuators is a mortar spraying mechanism, and the tile paving device further includes a leveling member, the leveling member is disposed on the mortar spraying mechanism, and the leveling member can level the sprayed mortar under the driving of the actuator 14, so that the mortar at the position to be paved is smoother.

It will be appreciated that only the tile laying mechanism is shown in figure 1 and that no other actuator is shown; as shown in fig. 6, the executing mechanism may be a mortar spraying and plastering mechanism, when the executing mechanism is the mortar spraying and plastering mechanism, the mortar spraying and plastering mechanism includes a storage box and a spray head 6, the spray head 6 is communicated with the storage box, the storage box is used for storing mortar, the spray head 6 is used for sucking mortar and spraying the mortar out of the spray head 6, the storage box may be disposed in a chassis 11, and the spray head 6 may be disposed on the chassis 11, so as to facilitate the mechanical arm 1 to drive the male replacing component 2 to connect with the female replacing component 3 on the mortar spraying and plastering mechanism; the actuating mechanism can also be a leveling mechanism which is used for leveling mortar.

Based on the hardware architecture of the brick paving device, various embodiments of the control method of the brick paving device are provided to realize brick paving operation.

In a first embodiment, referring to fig. 8, the control method of the tile paving device proposed by this embodiment includes the following steps:

step S10, acquiring the execution information of the tile paving device;

step S20, determining a target actuating mechanism according to the actuating information;

and step S30, controlling a mechanical arm of the tile paving device to be connected with the target execution mechanism.

In this embodiment, execution information of the tile paving device needs to be acquired, so that the tile paving device can automatically pave tiles according to the execution information. The execution information is correspondingly provided with three-dimensional graphic information of a building, a motion track of the mechanical arm, a connection sequence of the execution mechanism, execution actions of the target execution mechanism and the like.

Specifically, the three-dimensional image information of the building can lead the brick paving device to be provided with a position reference point, thereby being capable of planning the track, the motion track of the mechanical arm can lead the brick paving device to move according to the preset track, so that the tile laying device can automatically continue tile laying, the order of the connection of the actuators can be such that the tile laying device can connect different actuators to perform exactly the corresponding operation, for example, the mortar spraying and plastering are carried out through the mortar spraying and plastering mechanism when mortar is sprayed and plastered, the brick paving mechanism is carried out when bricks are paved, therefore, when paving bricks, the connection sequence of the executing mechanism and the mechanical arm can not be wrong, and the executing action of the target executing mechanism can realize the corresponding operation, for example, when the mortar spraying and smearing mechanism is connected with the mechanical arm, mortar spraying and smearing operation can be carried out, and when the brick paving mechanism is connected with the mechanical arm, brick paving operation can be carried out.

It will be appreciated that the execution information may also include the type and number of bricks to be laid, so that the brick laying apparatus can lay different types of bricks, and also determine whether the number of bricks to be laid is sufficient based on the number of bricks laid.

In this embodiment, the graphic Information of the Building may be designed and obtained through a Building Information Model (BIM), and the motion trajectory of the robot arm, the connection sequence of the actuator, and the execution action of the target actuator are obtained through programming.

In this embodiment, taking the execution mechanisms as a mortar spraying and smearing mechanism and a brick paving mechanism as examples, since mortar spraying and brick paving require different execution mechanisms to complete in the brick paving process, it is necessary to determine which execution mechanism the mechanical arm should be connected to, take the execution mechanism as a target execution mechanism, then connect the mechanical arm with the target execution mechanism, and execute corresponding mortar spraying and smearing or brick paving operations through the target execution mechanism connected with the mechanical arm, thereby realizing brick paving.

In this embodiment, the mechanical arm for controlling the tile paving device is connected to the target executing mechanism, where the connection may be to control the mechanical arm to assemble the target executing mechanism, or the mechanical arm may be clamped with the target executing mechanism after the target executing mechanism is manually installed on the mechanical arm by a worker.

According to the control method of the brick paving device, the execution information of the brick paving device is obtained, the target execution mechanism is determined according to the execution information, and the mechanical arm of the brick paving device is controlled to be connected with the target execution mechanism, so that the mechanical arm can be connected with at least two execution mechanisms, the use number of the mechanical arm can be reduced, and the equipment cost in the brick paving process is reduced.

In the second embodiment, referring to fig. 9, based on the first embodiment, each actuator is provided with a marker for identifying the actuator, and after step S30, the method further includes the following steps:

step S40, acquiring identification information based on the identifier on the target execution mechanism;

step S50, determining whether the target actuator is matched with the actuator controlled by the corresponding actuator according to the identification information;

if so, executing step S60 to control the robot to execute the execution information;

if not, step S70 is executed to output alarm prompt information and enter a standby state.

In this embodiment, a marker is provided on each actuator so that the marker corresponds to the actuator and, when the robot arm is connected to the target actuator, the identifier on the target executing mechanism is connected with the controller so as to send the identification information of the identifier to the controller, the controller determines whether the target executing mechanism is matched with the executing mechanism correspondingly controlled by the executing information according to the identification information, if the target executing mechanism is matched with the executing mechanism, the connection between the mechanical arm and the target executing mechanism is correct, that is, the connection between the mechanical arm and the target actuating mechanism is consistent with the control program of the actuating information, if the connection is not consistent with the control program of the target actuating mechanism, the connection between the mechanical arm and the target actuating mechanism is wrong, namely the connection between the mechanical arm and the target actuating mechanism is inconsistent with the control program of the actuating information, so that the alarm prompt information is output and the standby state is entered, the device can prompt workers to make corresponding debugging measures so that the brick paving device can perform brick paving operation in time.

In this embodiment, the identification information may be an identification code, the execution information is correspondingly provided with a preset code, if the identification code is the same as the preset code, it is described that the target execution mechanism is matched with the execution mechanism controlled correspondingly by the execution information, if not, it is described that the target execution mechanism is not matched with the execution mechanism controlled correspondingly by the execution information, for example, when the execution mechanisms are respectively a mortar spraying mechanism and a brick laying mechanism, when the mortar spraying operation needs to be executed, if the brick laying mechanism is connected to the mechanical arm at this time, the identification code is different from the preset code, the mortar spraying operation cannot be performed through the brick laying mechanism, at this time, an alarm prompt message needs to be output, and the operation enters a standby state to wait for a worker to perform subsequent processing.

It can be understood that the preset code is set according to the identification code of the identifier, for example, the identification code is set to 100, and if the preset code is also 100, the identification code is the same as the preset code at this time, which indicates that the identification code matches the preset code, i.e. the mechanical arm is correctly connected to the actuator; the identification code is set to be 100, if the preset code is 1000, the identification code is different from the preset code at the moment, the identification code is not matched with the preset code, namely the connection between the mechanical arm and the actuating mechanism is wrong, and alarm prompt information is output.

In the present embodiment, referring to fig. 10, when the target actuator is a mortar spraying mechanism, step S60 includes:

step S61, obtaining the mortar state in the mortar spraying and plastering mechanism;

step S62, judging whether the mortar state is matched with a preset target mortar state corresponding to the execution information;

if the matching is carried out, spraying mortar;

if not, step S63 is executed to output alarm prompt information and enter a standby state.

In this embodiment, a pressure sensor may be disposed on the mortar spraying and plastering mechanism, a pressure parameter of a nozzle position of the mortar spraying and plastering mechanism is obtained through the pressure sensor, the execution information corresponds to a preset pressure threshold, the mortar state includes that the mortar is too thin, the mortar is solidified and the mortar is too thick, the pressure threshold may be set according to practical experience, if the pressure parameter is less than or equal to the pressure threshold, it is described that the mortar state matches with a preset target mortar state corresponding to the execution information, the mortar spraying and plastering mechanism may normally spray the mortar, if the pressure parameter is greater than the pressure threshold, it is described that the mortar state does not match with the preset target mortar state corresponding to the execution information, the mortar is too thin, or the mortar is solidified, at this time, an alarm prompt message needs to be output, and a worker is prompted to make a corresponding treatment measure.

Referring to fig. 11, when the target actuator is a tile laying mechanism, step S60 includes:

step S64, controlling the brick paving mechanism to grab the bricks to be paved and moving the bricks to be paved to a target position according to the target pose parameters;

step S65, acquiring a first position and posture parameter of a brick to be paved and a second position and posture parameter of a paved brick;

step S66, correcting the pose of the brick to be paved at the target position according to the first pose parameter and the second pose parameter;

step S67, controlling a brick paving mechanism to pave bricks to be paved at a target position;

and step S68, controlling the brick paving mechanism to vibrate bricks to be paved.

In this embodiment, the brick paving device is controlled to grab bricks according to execution information, the bricks to be paved are moved to a target position according to target pose parameters of the bricks to be paved, a visual component, such as a CCD camera, is arranged at an execution end of the brick paving mechanism or the mechanical arm, a first pose parameter of the bricks to be paved and a second pose parameter of the bricks to be paved are obtained by the visual component in a photographing manner, the bricks to be paved are paved at the target position according to the obtained first pose parameter and the obtained second pose parameter, the bricks to be paved are vibrated to increase the contact area between the bricks to be paved and mortar, the firmness of the bricks to be paved fixed on the mortar is improved, the bricks to be paved are ensured to be aligned with the bricks to be paved, understandably, the first pose parameter includes pose information and position information of the bricks to be paved, and the second pose parameter includes pose information and position information of the bricks to be paved relative to the bricks to be paved.

In this embodiment, when the brick to be paved is moved to the target position, the pose of the brick to be paved at the target position needs to be corrected, that is, step S66 specifically includes determining whether the first pose parameter and the second pose parameter match, if so, step S67 is executed, the brick paving mechanism is controlled to pave the brick to be paved at the target position, and if not, the pose adjustment value of the brick to be paved is determined according to the difference value between the first pose parameter and the second pose parameter, and the pose of the brick to be paved at the target position is corrected according to the pose adjustment value.

In this embodiment, based on the execution information, the brick paving apparatus may obtain a threshold of the second posture parameter according to the second posture parameter, determine whether the first posture parameter matches the second posture parameter, that is, determine whether the first posture parameter is less than or equal to the threshold of the second posture parameter, if the first posture parameter is less than or equal to the threshold of the second posture parameter, it indicates that the first posture parameter matches the second posture parameter, the brick to be paved is substantially aligned with the paved brick, and the alignment error thereof is within an acceptable range, if the first posture parameter is greater than the threshold of the second posture parameter, it indicates that the first posture parameter does not match the second posture parameter, the brick to be paved is not aligned with the paved brick, the posture of the brick to be paved needs to be adjusted, and when the posture of the brick to be paved, the second posture parameter is different from the first posture parameter, and the obtained difference is the posture error of the brick to be paved, and taking the difference value as a pose adjustment value of the brick to be laid, and controlling the brick laying mechanism to adjust the pose of the brick to be laid at the target position according to the pose adjustment value.

Specifically, when the brick paving device paves bricks, a coordinate system is established, so that the coordinates of the bricks to be paved in the coordinate system are first position posture parameters of the bricks to be paved, the coordinates of the paved bricks in the coordinate system are second position posture parameters, the process of aligning the bricks to be paved and the paved bricks is that the abscissa of the bricks to be paved is less than or equal to the threshold value of the abscissa of the paved bricks, the ordinate of the bricks to be paved is less than or equal to the threshold value of the ordinate of the paved bricks, and the vertical coordinate of the bricks to be paved is less than or equal to the threshold value of the vertical coordinate of the paved bricks And the threshold corresponding to the corresponding coordinate is the threshold of the second posture parameter.

In a third embodiment, based on the solution of the first embodiment, when the execution information of the tile paving device is obtained, the preset initial execution information and the current pose parameter of the mechanical arm may be obtained first, and then the preset initial execution information may be modified by using the current pose parameter to form the execution information. Presetting initial execution information as an execution program written by a worker according to a physical model, wherein the execution program can be downloaded from a server or stored in a brick paving device, the current pose parameter of the mechanical arm comprises at least one of position information, direction information, height information and inclination angle information of the mechanical arm, the position information and the direction information of the mechanical arm are detected and obtained through a positioning component (such as a Beidou positioning system), when the direction information of the mechanical arm is obtained, the movement trend of the mechanical arm is navigated through the positioning component to determine the front, back, left and right directions of the mechanical arm, for example, an initial direction is arranged on the mechanical arm, the movement trend of the initial direction deviating from the mechanical arm is 15 degrees through navigation, the direction of the mechanical arm is 15 degrees, the height information of the mechanical arm can be detected and obtained through a laser sensor, and the inclination angle information of the mechanical arm can be obtained through an inclination angle sensor, in the actual operation process of the mechanical arm, compared with the target pose parameter of the mechanical arm in the preset initial execution information, the error exists, so that the preset initial execution information can be corrected according to the current pose parameter, the error between the current pose parameter and the target pose parameter is eliminated or reduced, and the brick paving precision is improved.

In this embodiment, before obtaining the current pose parameter of the mechanical arm, the tile paving device is controlled to move to a preset position according to preset initial execution information, and then it is determined whether the current pose parameter matches a target pose parameter of the mechanical arm in the preset initial execution information, if so, it is indicated that an error between the current pose parameter and the target pose parameter of the mechanical arm in the preset initial execution information is within an allowable range, an error generated by the mechanical arm in the operation process is small, the current pose parameter can be used as the execution information, and if not, it is indicated that an error between the current pose parameter and the target pose parameter of the mechanical arm in the preset initial execution information is large, and the pose of the mechanical arm needs to be adjusted to reduce the pose error of the mechanical arm and improve the tile paving precision.

It can be understood that, because the ground under the actual working condition may be uneven, the ground may be inclined in the operation process of the mechanical arm, or the operation direction may slightly deviate, or the height of the mechanical arm has deviation, when the mechanical arm runs to a preset position to perform tile paving, it is necessary to detect whether the current pose parameter of the mechanical arm is consistent with or close to the target pose parameter of the mechanical arm in the preset initial execution information to determine whether to adjust the height, direction and inclination of the mechanical arm, when adjusting, the height and inclination of the mechanical arm are adjusted by the lifting mechanism, and the direction of the mechanical arm is adjusted by the displacement assembly.

In this embodiment, since the mechanical arm includes a chassis and a plurality of movable arms, and an execution end formed by sequentially connecting the movable arms is disposed on the chassis, the degree of freedom of the execution end is high, and the difficulty in acquiring the pose parameter is high, so that the pose parameter of the chassis can be acquired to determine whether the current pose parameter of the chassis matches with the target pose parameter of the chassis in the preset initial execution information, and thus determine whether the current pose parameter of the mechanical arm matches with the target pose parameter of the mechanical arm in the preset initial execution information.

When bricks are paved, a brick is paved to serve as a paved brick, then the paved brick is photographed by using a visual component to obtain a second position and posture parameter of the paved brick, then an error range is set in execution information according to actual needs, and a threshold value of the second position and posture parameter is determined on the basis of the second position and posture parameter by using a brick paving device to determine a reference for paving the bricks to be paved subsequently.

It will be appreciated that the tile paving apparatus provided by the present invention can also repair a building already paved, for example, when a power failure, equipment damage, infirm brick paving, etc. occur, the tile paving apparatus can store the coordinates of the location to be paved and then move to the location to be paved according to the stored coordinates to perform a tile paving operation.

The brick paving device provided by the invention can be used for paving bricks on the ground or on the wall surface, the embodiment only shows the control method for paving a brick to be paved, and when the brick is continuously paved, the control method of the brick paving device provided by the embodiment is repeatedly executed according to the requirement.

In addition, an embodiment of the present invention further provides a tile paving device, where the tile paving device includes a memory and a processor, where the memory stores a control program of the tile paving device, and the control program of the tile paving device, when executed by the processor, implements the steps of the control method of the tile paving device according to any one of the above embodiments.

Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, where a control program of a tile paving apparatus is stored on the computer-readable storage medium, and when the control program of the tile paving apparatus is executed by a processor, the steps of the control method of the tile paving apparatus according to any one of the above embodiments are implemented.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.