Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Ceramic tile paving method and automatic ceramic tile paving control system
The invention provides a ceramic tile paving method, and belongs to the technical field of automatic control. The ceramic tile paving method comprises the following steps: performing fixed-point route laser scanning operation on a reference tile paved at a reference position, and confirming a reference center coordinate of a center point of the reference tile rnr under a robot coordinate system XR-YR; calculating a target center coordinate of a target position of a next to-be-paved ceramic tile according to the reference center coordinate, the relative row number, the relative column number, the ceramic tile side length and the ceramic tile spacing; adsorbing one to-be-paved ceramic tile from a ceramic tile pile; performing the fixed-point route laser scanning operation on the to-be-paved ceramic tile, and calculating the current center coordinate of the to-be-paved ceramic tile; according to the target center coordinate, the current center coordinate and a compensation parameter, calculating a pose vector of the tail end of a robot for executing paving operation; and executing the pose vector, so that the to-be-paved ceramic tile is paved to the target position corresponding to the target center coordinate. The invention further provides an automatic ceramic tile paving control system.
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。
Ceramic tile paving method and automatic ceramic tile paving control system
The invention provides a ceramic tile paving method, and belongs to the technical field of automatic control. The ceramic tile paving method comprises the following steps: performing fixed-point route laser scanning operation on a reference tile paved at a reference position, and confirming a reference center coordinate of a center point of the reference tile rnr under a robot coordinate system XR-YR; calculating a target center coordinate of a target position of a next to-be-paved ceramic tile according to the reference center coordinate, the relative row number, the relative column number, the ceramic tile side length and the ceramic tile spacing; adsorbing one to-be-paved ceramic tile from a ceramic tile pile; performing the fixed-point route laser scanning operation on the to-be-paved ceramic tile, and calculating the current center coordinate of the to-be-paved ceramic tile; according to the target center coordinate, the current center coordinate and a compensation parameter, calculating a pose vector of the tail end of a robot for executing paving operation; and executing the pose vector, so that the to-be-paved ceramic tile is paved to the target position corresponding to the target center coordinate. The invention further provides an automatic ceramic tile paving control system.
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。
Ceramic tile paving method and automatic ceramic tile paving control system
瓷砖铺贴方法和瓷砖自动铺贴控制系统
ZHANG ZHONGYUE (Autor:in) / ZHOU HUIXING (Autor:in) / WANG SHUN (Autor:in) / LYU YANNAN (Autor:in) / ZHENG XIAOYU (Autor:in)
08.10.2021
Patent
Elektronische Ressource
Chinesisch
IPC:
E04F
FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
,
Ausbau von Bauwerken, z.B. Treppen, Fußböden
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