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A platform for research: civil engineering, architecture and urbanism
Ceramic tile positioning and paving method and automatic ceramic tile paving equipment
The invention provides a ceramic tile positioning and paving method, and belongs to the field of automatic control. The ceramic tile positioning and paving method comprising the following steps of adsorbing a to-be-paved ceramic tile, and moving the to-be-paved ceramic tile to a position above a target position of a to-be-paved plane; shooting a local ceramic tile picture based on a limited field of view at an angle perpendicular to the to-be-paved plane; analyzing the position of each ceramic tile edge in the local ceramic tile picture, and calculating a displacement vector for moving the direction of the to-be-paved ceramic tile according to ceramic tile parameters; moving the to-be-paved ceramic tile according to the displacement vector, so that the mapping position of the to-be-paved ceramic tile is overlapped with the target position; conducting laser ranging on the to-be-paved plane, and calculating the descending distance; moving the to-be-paved ceramic tile towards the to-be-paved plane by the descending distance, so that the to-be-paved ceramic tile is paved to the target position; and stopping the adsorption of the to-be-paved ceramic tiles. The invention further provides automatic ceramic tile paving equipment.
本发明提供瓷砖定位和铺贴方法，属于自动控制领域。包括：吸附待铺贴瓷砖，并将所述待铺贴瓷砖移动至待铺贴平面的目标位置上方；以垂直于所述待铺贴平面的角度、基于有限视场拍摄局部瓷砖图片；分析所述局部瓷砖图片中各个瓷砖边缘的所属位置，并根据瓷砖参数计算出用于移动所述待铺贴瓷砖方位的位移矢量；按照所述位移矢量移动所述待铺贴瓷砖，使所述待铺贴瓷砖的所述映射位置与所述目标位置重合；对所述待铺贴平面激光测距、并计算出下降距离；将所述待铺贴瓷砖向所述待铺贴平面方向移动所述下降距离，使所述待铺贴瓷砖铺贴至所述目标位置；停止吸附所述待铺贴瓷砖。本发明还提供自动瓷砖铺贴设备。
Ceramic tile positioning and paving method and automatic ceramic tile paving equipment
The invention provides a ceramic tile positioning and paving method, and belongs to the field of automatic control. The ceramic tile positioning and paving method comprising the following steps of adsorbing a to-be-paved ceramic tile, and moving the to-be-paved ceramic tile to a position above a target position of a to-be-paved plane; shooting a local ceramic tile picture based on a limited field of view at an angle perpendicular to the to-be-paved plane; analyzing the position of each ceramic tile edge in the local ceramic tile picture, and calculating a displacement vector for moving the direction of the to-be-paved ceramic tile according to ceramic tile parameters; moving the to-be-paved ceramic tile according to the displacement vector, so that the mapping position of the to-be-paved ceramic tile is overlapped with the target position; conducting laser ranging on the to-be-paved plane, and calculating the descending distance; moving the to-be-paved ceramic tile towards the to-be-paved plane by the descending distance, so that the to-be-paved ceramic tile is paved to the target position; and stopping the adsorption of the to-be-paved ceramic tiles. The invention further provides automatic ceramic tile paving equipment.
本发明提供瓷砖定位和铺贴方法，属于自动控制领域。包括：吸附待铺贴瓷砖，并将所述待铺贴瓷砖移动至待铺贴平面的目标位置上方；以垂直于所述待铺贴平面的角度、基于有限视场拍摄局部瓷砖图片；分析所述局部瓷砖图片中各个瓷砖边缘的所属位置，并根据瓷砖参数计算出用于移动所述待铺贴瓷砖方位的位移矢量；按照所述位移矢量移动所述待铺贴瓷砖，使所述待铺贴瓷砖的所述映射位置与所述目标位置重合；对所述待铺贴平面激光测距、并计算出下降距离；将所述待铺贴瓷砖向所述待铺贴平面方向移动所述下降距离，使所述待铺贴瓷砖铺贴至所述目标位置；停止吸附所述待铺贴瓷砖。本发明还提供自动瓷砖铺贴设备。
Ceramic tile positioning and paving method and automatic ceramic tile paving equipment
一种瓷砖定位和铺贴方法以及自动瓷砖铺贴设备
WANG SHUN (author) / ZHOU HUIXING (author) / ZHANG ZHONGYUE (author) / LYU YANNAN (author) / ZHENG XIAOYU (author)
2021-09-28
Patent
Electronic Resource
Chinese
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