Method and system for detecting deviation of ceramic tile laying position by laser scanning

Abstract

The application provides a method and system for detecting position deviation of ceramic tiles by laser scanning, and belongs to the technical field of ceramic tile paving. The method comprises the following steps: S1, moving a mechanical arm to scan in a transverse S-shaped route, and recording edge point coordinates of each ceramic tile in the scanning process; S2, moving the mechanical arm to scan in a longitudinal S-shaped route, and recording edge point coordinates of each ceramic tile in the scanning process; S3, determining four vertex coordinates of each single ceramic tile according to the size of the ceramic tile and the obtained edge point coordinates; S4, calculating a horizontal direction deviation according to the vertex coordinates; S5, calculating a vertical direction deviation according to the vertex coordinates; and S6, evaluating whether the ceramic tile paving operation is qualified according to the horizontal direction deviation and the vertical direction deviation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ceramic tile paving, and particularly relates to a method and system for detecting position deviation of ceramic tile paving by laser scanning. BACKGROUND

[0002] The existing common position deviation of ceramic tile paving is measured by manual ruler, and the distance of each measurement is determined according to the length of the ruler, which has certain limitations. At present, the position detection method of the ceramic tile paving robot can only detect the position deviation of the paving ceramic tile and the adjacent ceramic tile, and it is difficult to analyze the overall neatness of the ceramic tile paving after all the ceramic tiles are paved, and it is impossible to objectively and rigorously evaluate whether the paving operation is qualified. SUMMARY

[0003] Therefore, the present application provides a method and system for detecting position deviation of ceramic tile paving by laser scanning, which can objectively and rigorously evaluate whether the paving operation is qualified by means of data analysis.

[0004] The technical solution adopted by the present application to solve the technical problems is:

[0005] A method for detecting position deviation of ceramic tile paving by laser scanning, the implementation subject is a laser scanning analysis system, the laser scanning analysis system has a mechanical arm and a computer, the mechanical arm has a laser sensor, and the steps include:

[0006] Step S1, regarding the vertical direction as the Z-axis direction, regarding two mutually perpendicular reference lines of the paving ceramic tile as the X-axis direction and the Y-axis direction, regarding the plane where the two reference lines are located as the reference plane, first moving the mechanical arm to scan in a transverse S-shaped route by using the laser sensor, acquiring and recording the edge point coordinates of each ceramic tile in the scanning process, and the mechanical arm always moves on the same plane parallel to the reference plane;

[0007] Step S2, moving the mechanical arm to scan in a longitudinal S-shaped route by using the laser sensor, acquiring and recording the edge point coordinates of each ceramic tile in the scanning process;

[0008] Step S3, determining the four vertex coordinates of each single ceramic tile according to the size of the ceramic tile and the edge point coordinates obtained by scanning;

[0009] Step S4, calculating the horizontal direction deviation according to each vertex coordinate;

[0010] Step S5, calculating the vertical direction deviation according to each vertex coordinate;

[0011] Step S6, evaluating whether the ceramic tile paving operation is qualified according to the horizontal direction deviation and the vertical direction deviation.

[0012] Preferably, the step S1 comprises:

[0013] Step S11, adjusting the initial position of the mechanical arm, so that the starting point of laser scanning is located on the upper left side of the first tile C 11 ;

[0014] Step S12, the mechanical arm scans along the direction parallel to the X axis to the upper right side of the last tile C I1 in the first row, then moves along the Y axis to the lower right side of the tile C I1 , scans along the direction parallel to the X axis to the lower left side of the tile C 11 ;

[0015] Step S13, after the scanning of the first row of tiles is completed, the mechanical arm moves along the Y axis to the second row for scanning until the Jth row is scanned.

[0016] Step S14, extracting each mutation point appearing in the scanning process and recording it as the edge point coordinate, wherein each tile C ij corresponds to the upper left edge point coordinate, the upper right edge point coordinate, the lower left edge point coordinate, and the lower right edge point coordinate, i∈[0,I], j∈[0,J].

[0017] Preferably, the step S2 comprises:

[0018] Step S21, adjusting the initial position of the mechanical arm, so that the starting point of laser scanning is located on the left upper side of the first tile C 11 in the first column;

[0019] Step S22, the mechanical arm scans along the direction parallel to the Y axis to the upper right side of the last tile C 1J in the first column, then moves along the X axis to the lower right side of the tile C 1J , scans along the direction parallel to the Y axis to the right upper side of the tile C 11 ;

[0020] Step S23, after the scanning of the first column of tiles is completed, the mechanical arm moves along the Y axis to the second column for scanning until the Ith column is scanned.

[0021] Step S24, extracting each mutation point appearing in the scanning process and recording it as the edge point coordinate, wherein each tile C ij corresponds to the left upper edge point coordinate, the left lower edge point coordinate, the right upper edge point coordinate, and the right lower edge point coordinate.

[0022] Preferably, the step S3 comprises:

[0023] extracting the ceramic tile C ij corresponding to eight edge point coordinates, determining straight lines where four edges of the ceramic tile C ij are located, the eight edge point coordinates including the upper left edge point coordinate, the upper right edge point coordinate, the lower left edge point coordinate, the lower right edge point coordinate, the left upper edge point coordinate, the left lower edge point coordinate, the right upper edge point coordinate, and the right lower edge point coordinate;

[0024] calculating four intersection points generated after the straight lines where the four edges are located intersect with each other, the four intersection points serving as the four vertex coordinates of the ceramic tile C ij .

[0025] Preferably, the four vertex coordinates of the ceramic tile C ij are all three-dimensional coordinates, and the step S4 includes:

[0026] Step S41, performing straight line fitting on an XY plane according to the upper left vertex coordinate and the upper right vertex coordinate of each ceramic tile C ij in each row by using a least square method to obtain J XY plane fitting straight lines, which are expressed as y=a j x+b j .

[0027] Step S42, calculating a horizontal direction deviation of each row, which is expressed as-a j / b j .

[0028] Preferably, the step S5 is implemented as:

[0029] Step S51, performing straight line fitting on a YZ plane according to the upper left vertex coordinate and the lower left vertex coordinate of each ceramic tile C ij in each column by using a least square method to obtain J YZ plane fitting straight lines, which are expressed as z=c j y+d j .

[0030] Step S52, calculating a vertical direction deviation of each row, which is expressed as-c j / d j .

[0031] Preferably, the step S6 includes:

[0032] judging whether the slope of each XY plane fitting straight line and the slope of each YZ plane fitting straight line are all within an error interval;

[0033] If the slope of each XY plane fitting straight line and the slope of each YZ plane fitting straight line are in the error interval, it is determined that the ceramic tile paving operation is qualified.

[0034] If there is a fitting straight line with a slope exceeding the error interval, it is determined that the ceramic tile paving operation is unqualified.

[0035] The application also provides a laser scanning analysis system for detecting the deviation of ceramic tile paving position by laser scanning, comprising:

[0036] A laser scanning robot and a terminal, the laser scanning robot has a base, a moving mechanism, a mechanical arm, the moving mechanism is installed on the base, the mechanical arm is installed on the moving end of the moving mechanism, a laser sensor is fixedly installed on the mechanical arm, the laser sensor and the moving mechanism are electrically connected with the terminal;

[0037] The terminal comprises:

[0038] A mechanical control module for outputting a moving control signal to the laser scanning robot, so that the moving mechanism drives the mechanical arm and the laser sensor to scan in a transverse S-shaped route and a longitudinal S-shaped route, wherein the mechanical arm always moves on the same plane parallel to the reference plane;

[0039] A collection module for collecting the edge point coordinates of each ceramic tile in the scanning process according to the data returned by the laser scanning robot;

[0040] A calculation module for determining the four vertex coordinates of each single ceramic tile according to the size of the ceramic tile and the edge point coordinates obtained by scanning, calculating the horizontal direction deviation according to each vertex coordinate, and calculating the vertical direction deviation according to each vertex coordinate;

[0041] An analysis module for evaluating whether the ceramic tile paving operation is qualified according to the horizontal direction deviation and the vertical direction deviation.

[0042] From the above technical solutions, the method for detecting the position deviation of the ceramic tile paving provided by the embodiment of the application first moves the mechanical arm to scan in a transverse S-shaped route using the laser sensor, acquires and records the edge point coordinates of each ceramic tile in the scanning process, and the mechanical arm always moves on the same plane parallel to the reference plane; then moves the mechanical arm to scan in a longitudinal S-shaped route using the laser sensor, acquires and records the edge point coordinates of each ceramic tile in the scanning process; determines the four vertex coordinates of each single ceramic tile according to the size of the ceramic tile and the edge point coordinates obtained by scanning; calculates the horizontal direction deviation according to each vertex coordinate; calculates the vertical direction deviation according to each vertex coordinate; and evaluates whether the ceramic tile paving operation is qualified according to the horizontal direction deviation and the vertical direction deviation. Through the scheme of the application, whether the paving operation is qualified can be objectively and rigorously evaluated in a data analysis manner. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 The flowchart of the method for detecting the position deviation of the ceramic tile paving by laser scanning.

[0044] Figure 2 The transverse S-shaped route scanning route schematic diagram.

[0045] Figure 3 The longitudinal S-shaped route scanning route schematic diagram.

[0046] Figure 4 The eight edge points and four vertexes of the ceramic tile C ij

[0047] Figure 5 The XY plane fitting straight line schematic diagram.

[0048] Figure 6 The YZ plane fitting straight line schematic diagram. DETAILED DESCRIPTION

[0049] The technical solutions and technical effects of the application are further described in detail in combination with the drawings of the application.

[0050] As shown in Figure 1 , the application provides a method for detecting the position deviation of the ceramic tile paving by laser scanning, and the implementation subject is a laser scanning analysis system, which has a mechanical arm and a computer, and the mechanical arm has a laser sensor. The vertical direction is the Z-axis direction, the two reference lines perpendicular to each other for paving the ceramic tile are the X-axis direction and the Y-axis direction, the plane where the two reference lines are located is the reference plane, the ray of the laser sensor is always parallel to the Z-axis direction in the working process of the laser scanning analysis system, and the mechanical arm always moves on the same plane parallel to the reference plane. ​

[0051] The specific implementation steps include:

[0052] Step S1, as shown in the figure, first move the mechanical arm to scan in a transverse S-shaped route, and record the edge point coordinates of each tile during the scanning process; Figure 2

[0053] Step S2, move the mechanical arm to scan in a longitudinal S-shaped route, and record the edge point coordinates of each tile during the scanning process;

[0054] Step S3, determine the four vertex coordinates of each single tile according to the tile size and the edge point coordinates obtained by scanning;

[0055] Step S4, calculate the horizontal direction deviation according to the vertex coordinates;

[0056] Step S5, calculate the vertical direction deviation according to the vertex coordinates;

[0057] Step S6, evaluate whether the tile paving operation is qualified according to the horizontal direction deviation and the vertical direction deviation.

[0058] Preferably, the specific implementation of Step S1 for scanning in a transverse S-shaped route and recording the edge point coordinates of each tile during the scanning process includes:

[0059] Step S11, adjust the initial position of the mechanical arm so that the starting point of the laser scanning is located on the upper left side of the first tile C 11 ;

[0060] Step S12, move the mechanical arm along the direction parallel to the X axis to the right side of the last tile C I1 in the first row, and then move along the Y axis to the lower right side of the tile C I1 , and then scan to the lower left side of the tile C 11 ;

[0061] Step S13, after the scanning of the first row of tiles is completed, move the mechanical arm along the Y axis to the second row for scanning, and continue until the Jth row is scanned;

[0062] Step S14, extract each abrupt point appearing during the scanning process and record it as an edge point coordinate, wherein each tile C ij corresponds to an upper left edge point coordinate, an upper right edge point coordinate, a lower left edge point coordinate, and a lower right edge point coordinate, i∈[0,I], j∈[0,J].

[0063] Preferably, the specific operation of Step S2 for scanning in a longitudinal S-shaped route and recording the edge point coordinates of each tile during the scanning process includes: ​

[0064] Step S21: Adjust the initial position of the robotic arm so that the starting point of the laser scan is located on the first tile C in the first column. 11 The upper left side;

[0065] Step S22: The robotic arm scans downwards along a direction parallel to the Y-axis to the last tile C in the first column. 1J On the upper right side, move along the X-axis to tile C. 1J The lower right side of the tile is scanned to the right along the direction parallel to the Y-axis to tile C. 11 The upper right side;

[0066] Step S23: After the first column of tiles is scanned, the robotic arm moves along the Y-axis to the second column for scanning, until the first column is scanned;

[0067] Step S24: Extract each abrupt change point that occurs during the scanning process and record it as edge point coordinates. For each tile C... ij Each has corresponding coordinates of the top left edge point, the bottom left edge point, the top right edge point, and the bottom right edge point.

[0068] Preferably, step S3, based on the tile size and the edge point coordinates obtained from the scan, determines the coordinates of the four vertices of each individual tile. The specific operations include:

[0069] like Figure 4 Example, extract tile C ij The coordinates of the corresponding 8 edge points determine the tile C. ij The four sides of the line, and the coordinates of the eight edge points include the top left edge point (101), top right edge point (102), bottom left edge point (106), bottom right edge point (105), left top edge point (108), left bottom edge point (107), right top edge point (103), and right bottom edge point (104); among them, tile C ij The coordinates of the 8 edge points and the coordinates of the four vertices are all three-dimensional coordinates;

[0070] Calculate the four intersection points formed by the pairwise intersections of the lines containing the four sides. Points 101 and 102 determine tile edge AB, 103 and 104 determine tile edge BD, 105 and 106 determine tile edge CD, and 107 and 108 determine tile edge AC. The intersection point A of tile edges AB and AC is the upper left vertex A of the tile, AB and BD determine the upper right vertex B, BD and DC determine the lower right vertex D, and DC and CA determine the lower left vertex C. Through calculation, the coordinates of points A, B, C, and D can be obtained as the coordinates of tile C. ij The coordinates of the four vertices.

[0071] Preferably, step S4 calculates the horizontal deviation based on the coordinates of each vertex, including:

[0072] Step S41, through the least square method, according to each tile C ij The left upper vertex coordinates and the right upper vertex coordinates of each row on the XY plane, J XY plane fitting straight lines can be obtained, as shown by the dashed line, the dashed line is the horizontal direction fitting straight line of all detection points: Figure 5

[0073] The three-dimensional coordinates of each vertex are (x i ,y i ,z i ), step S4 carries out straight line fitting on the XY plane, so here the X axis Y axis coordinates are extracted, the position deviation on the horizontal direction (x-o-y plane) is calculated in the form of (x i ,y i ), the respective average values of the horizontal coordinates and the vertical coordinates of each vertex are calculated, using the following calculation formula:

[0074]

[0075]

[0076] The sum of the horizontal coordinates of all points and the sum of the vertical coordinates of all points are calculated:

[0077]

[0078]

[0079] The square of the horizontal coordinates of each data point is calculated and summed, and the product of the horizontal coordinates and the vertical coordinates of each point is calculated and summed, as follows:

[0080]

[0081]

[0082] Finally, the two parameters of the intercept a and the slope b in the required straight line equation are substituted into the above formula to calculate them:

[0083]

[0084]

[0085] After the two parameters a and b are solved, the straight line equation y=ax+b can be obtained, and correspondingly, the horizontal direction fitting straight line of each row is expressed as:

[0086] y=a j x+b j (9) ​

[0087] Step S42: Calculate the horizontal deviation of each row, denoted as -a j / b j .

[0088] Preferably, referring to step S4, step S5 calculates the vertical deviation based on the coordinates of each vertex, specifically as follows:

[0089] Step S51: Using the least squares method, based on each tile C in each column... ij Using the coordinates of the top left vertex and the bottom left vertex, a straight line is fitted onto the YZ plane to obtain J fitted lines in the YZ plane, such as... Figure 6 As shown, the dashed line represents the fitted plane in the vertical direction for all detection points. The least squares method is used for plane fitting, and the vertical positional deviation of each tile corner is calculated. The three-dimensional coordinates of each vertex are (x...). i ,y i ,z i Step S5 involves linear fitting in the YZ plane, therefore the Y-axis and Z-axis coordinates are extracted here, with (y i ,z i The positional deviation in the horizontal direction (yoz plane) is calculated using the form (1)-(8) above. J vertical fitting lines can be obtained, expressed as:

[0090] z = c j y+d j (10)

[0091] Step S52: Calculate the vertical deviation of each row, denoted as -c. j / d j .

[0092] Preferably, step S6 evaluates the quality of the tile laying operation based on the horizontal and vertical deviations. Specific implementation includes:

[0093] Determine whether the slopes of the fitted lines in the XY plane and the fitted lines in the YZ plane are both within the preset error range.

[0094] The distance from the corner point of the tile to the fitted straight line is calculated as the positional deviation value of the tile.

[0095] If the slopes of the fitted lines in each XY plane and the fitted lines in each YZ plane are both within the error range, then the tile laying operation is deemed qualified.

[0096] If there is a fitted straight line with a slope that exceeds the error range, then the tile laying operation is deemed unqualified.

[0097] This invention also provides a laser scanning analysis system for detecting deviations in the laying position of ceramic tiles, comprising:

[0098] The laser scanning robot and the terminal, the laser scanning robot has a base, a moving mechanism, a mechanical arm, the moving mechanism is installed on the base, the mechanical arm is installed on the moving mechanism's moving end, the mechanical arm is fixedly installed laser sensor and camera, laser sensor, moving mechanism are electrically connected between the terminal;

[0099] The terminal comprises:

[0100] The mechanical control module is used for outputting the moving control signal to the laser scanning robot, so that the moving mechanism drives the mechanical arm and the laser sensor to scan in the horizontal S-shaped route and the vertical S-shaped route, which can be referred to as Figure 2 And Figure 3 The mechanical arm always moves on the same plane parallel to the reference plane;

[0101] The acquisition module is used for acquiring the edge point coordinates of each tile in the scanning process according to the data returned by the laser scanning robot; the acquisition module is used for acquiring the three-dimensional coordinates of each mutation point, which belongs to the prior art;

[0102] The calculation module is used for determining the four vertex coordinates of each single tile according to the tile size and the edge point coordinates obtained by scanning; the horizontal direction deviation is calculated according to the vertex coordinates; the vertical direction deviation is calculated according to the vertex coordinates; the calculation process of the calculation module is referred to the foregoing steps S3-S5;

[0103] The analysis module is used for evaluating whether the tile paving operation is qualified according to the horizontal direction deviation and the vertical direction deviation; the analysis process of the analysis module is referred to the foregoing step S6.

[0104] Through the scheme of the present application, the deviation analysis of each row or each column can be realized for the large-area paved tiles, and when analyzing the vertical deviation, it is not necessary to take a picture on the side and then analyze through image recognition. Through laser scanning, the position information of all the paved tiles is scanned, which has higher measurement accuracy than manual measurement, and the measurement data can be quickly saved.

[0105] The present application can obtain the position deviation of all the paved tiles on the entire paving plane by moving the robot and cooperating with the moving mechanical arm, can obtain the position relationship of the four corners of all the paved tiles in the same coordinate system, and can obtain the tile paving position deviation, which is beneficial to improve the overall tile paving quality.

[0106] The above only discloses the preferred embodiments of the present application, of course, cannot limit the scope of the present application, and those skilled in the art can understand that the whole or part of the above-mentioned embodiments can be implemented, and equivalent changes made according to the claims of the present application still belong to the scope of the present application.

Claims

1. A method for detecting deviation of ceramic tile laying position by laser scanning, the main body of implementation is a laser scanning analysis system, the laser scanning analysis system has a mechanical arm and a computer, the mechanical arm has a laser sensor thereon, characterized in that, The method comprises the following steps: Step S1, taking the vertical direction as the Z-axis direction, taking the two mutually perpendicular reference lines of the laid ceramic tiles as the X-axis direction and the Y-axis direction, taking the plane where the two reference lines are located as the reference plane, first moving the mechanical arm to make a transverse S-shaped route scan using the laser sensor, acquiring and recording the edge point coordinates of each ceramic tile in the scanning process, the mechanical arm always moving on the same plane parallel to the reference plane; wherein each ceramic tile C ij corresponds to an upper left edge point coordinate, an upper right edge point coordinate, a lower left edge point coordinate, and a lower right edge point coordinate. Step S2, the mobile mechanical arm uses the laser sensor to make a longitudinal S-shaped route scan, and acquires and records the edge point coordinates of each ceramic tile in the scanning process; wherein each ceramic tile C ij corresponds to a left upper edge point coordinate, a left lower edge point coordinate, a right upper edge point coordinate, and a right lower edge point coordinate. Step S3, determining the four vertex coordinates of each single ceramic tile according to the size of the ceramic tile and the edge point coordinates obtained by scanning; the ceramic tile C ij The four vertex coordinates of the ceramic tile C are all three-dimensional coordinates. Step S4, calculating horizontal direction deviation according to each vertex coordinate; through least square method, straight line fitting on XY plane is performed according to each vertex coordinate of the upper left vertex and the upper right vertex of each row of the tiles C ij , J XY plane fitting straight lines are obtained, expressed as y=a j x+b j ; horizontal direction deviation of each row is expressed as -a j / b j ; Step S5, calculating the vertical direction deviation according to each of the vertex coordinates; through least square method, performing straight line fitting on YZ plane according to each of the upper left vertex coordinates and the upper right vertex coordinates of each column of the tiles C ij , obtaining I YZ plane fitting straight lines, denoted as z=c j y+d j ; the vertical direction deviation of each row is denoted as-c j / d j ; Step S6, evaluating whether the tile paving work is qualified according to the horizontal direction deviation and the vertical direction deviation: determining whether the slopes of each XY plane fitting straight line and the slopes of each YZ plane fitting straight line are within an error interval; if the slopes of each XY plane fitting straight line and the slopes of each YZ plane fitting straight line are within the error interval, it is determined that the tile paving work is qualified; if there is a fitting straight line whose slope exceeds the error interval, it is determined that the tile paving work is unqualified; Step S7, calculating the distance between the tile corner point and the fitting straight line as the position deviation value of the tile.

2. The method of detecting deviation of ceramic tile laying position by laser scanning according to claim 1, wherein, The step S1 comprises: Step S11, adjust the initial position of the mechanical arm, make the starting point of laser scanning on the left side of the first block of ceramic tile C 11 upper part of the first row Step S12, the mechanical arm scans to the right side edge upper part of the first row last tile C along the direction parallel to the X axis, and then moves to the right side edge lower part of the tile C along the Y axis, scans to the left side edge lower part of the tile C along the direction parallel to the X axis. I1 I1 11 ​​​ Step S13, after the scanning of the first row of tiles is completed, the mechanical arm moves to the second row along the Y axis direction to perform scanning until the Jth row is scanned; Step S14, extract each mutation point appearing in the scanning process and record as the edge point coordinates, wherein each tile C ij corresponds to an upper left edge point coordinate, an upper right edge point coordinate, a lower left edge point coordinate, and a lower right edge point coordinate, i∈[0,I], j∈[0,J].

3. The method of detecting deviation of ceramic tile laying position by laser scanning according to claim 2, wherein, The step S2 comprises: Step S21, adjust the initial position of the mechanical arm, make the starting point of laser scanning located at the left part of the upper side of the first block of ceramic tile C of the first column 11 . Step S22, the robotic arm scans downwards along a direction parallel to the Y-axis to the last tile C in the first column. 1J On the upper right side, move along the X-axis to the tile C. 1J The lower right side of the tile C is scanned to the right along the direction parallel to the Y-axis. 11 The upper right side; Step S23, after the scanning of the first column of tiles is completed, the mechanical arm moves to the second column along the Y axis direction to perform scanning until the Ith column is scanned; Step S24, extract each of the mutation points appearing in the scanning process and record as the edge point coordinates, wherein each of the tiles C ij corresponds to left upper edge point coordinates, left lower edge point coordinates, right upper edge point coordinates, and right lower edge point coordinates.

4. The method of detecting deviation of ceramic tile laying position by laser scanning according to claim 3, wherein, The step S3 comprises: extracting the ceramic tile C ij corresponding to eight edge point coordinates, determining the straight lines on which the four edges of the ceramic tile C ij are located, the eight edge point coordinates including the upper left edge point coordinate, the upper right edge point coordinate, the lower left edge point coordinate, the lower right edge point coordinate, the left upper edge point coordinate, the left lower edge point coordinate, the right upper edge point coordinate, and the right lower edge point coordinate. four intersection points generated by the four straight lines on which the four sides lie, the four intersection points as the four vertex coordinates of the ceramic tile C ij ​ 5. A laser scanning analysis system for detecting deviation of a ceramic tile laying position by laser scanning, characterized in that, The method of any one of claims 1-4, comprising: a laser scanning robot and a terminal, the laser scanning robot having a base, a moving mechanism, and a mechanical arm, the moving mechanism being installed on the base, the mechanical arm being installed on a moving end of the moving mechanism, a laser sensor being fixedly installed on the mechanical arm, the laser sensor and the moving mechanism being electrically connected with the terminal; The terminal comprises: a mechanical control module for outputting a moving control signal to the laser scanning robot to enable the moving mechanism to drive the mechanical arm and the laser sensor to perform transverse S-shaped route scanning and longitudinal S-shaped route scanning, wherein the mechanical arm always moves on a same plane parallel to a reference plane; a collection module for collecting edge point coordinates of each tile in the scanning process according to data returned by the laser scanning robot; a calculation module for determining four vertex coordinates of each single tile according to tile sizes and the edge point coordinates obtained through scanning, calculating a horizontal direction deviation according to the vertex coordinates, and calculating a vertical direction deviation according to the vertex coordinates; an analysis module for evaluating whether the tile paving work is qualified according to the horizontal direction deviation and the vertical direction deviation.

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