Control method, system, device and storage medium based on image comparison

Abstract

The present invention provides a control method, system, device, and storage medium based on image comparison. The method includes the following steps: obtaining a tile mosaic pattern and a first wall pattern, superimposing the tile mosaic pattern on the first wall pattern to generate a second wall pattern; projecting the second wall pattern onto the wall to be tiled to generate a third wall pattern; using a laser to create a frame grid corresponding to the third wall pattern on the wall to be tiled based on the third wall pattern; and tiling the wall based on the third wall pattern and the frame grid. The present invention effectively prevents tile misalignment during tile laying, ensures the integrity of the tile pattern, and improves tile laying efficiency and effectiveness.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a control method, system, device and storage medium based on image comparison. Background Art

[0002] Ceramic tiles are a long-standing floor decoration material. Even today, as decorative design techniques continue to evolve and innovations in tile craftsmanship continue to advance, ceramic tiles still hold an irreplaceable place in decorative design. Laying ceramic tiles is one of the most important steps in the entire renovation process, significantly impacting the finished interior environment.

[0003] Traditionally, tile laying on house walls is done manually, which is physically demanding and, for higher walls, difficult and dangerous. In recent years, automated tile laying solutions have emerged, reducing the workload.

[0004] For example, a Chinese patent with publication number CN113309328A discloses a method and device for controlling a tiling robot, the method comprising: receiving user control of the angle of a laser emitter on the tiling robot; controlling the laser emitter to emit four lasers, wherein the four lasers are respectively irradiated on four vertices of a wall to be tiled; measuring the distance from the tiling robot to the four vertices according to the four emitted lasers; calculating the area of ​​the wall to be tiled based on at least the distances obtained by the four laser distance measurements; and calculating the path of the tiling robot for tiling the wall based on the area of ​​the wall to be tiled and the area of ​​the tiles obtained in advance.

[0005] Invention patent CN108182298A discloses an implementation method for virtual paving brick design, including: obtaining various parameters of the paving bricks, creating a local coordinate system based on the parameters, and converting the paving area outline into the local coordinate system, generating a rectangular set containing several rectangles based on the paving brick attribute parameters, paving brick gap parameters, paving brick stagger rate parameters and pre-stored paving area bounding box; traversing the rectangular set, performing Boolean operations on each rectangle in the rectangular set and the paving area outline in the local coordinate system to obtain the plane projection outline of each paving brick projected onto the paving area outline; converting the plane projection outline into the world coordinate system, and stretching the plane projection outline in the world coordinate system to obtain the paving surface geometric entity corresponding to each paving brick.

[0006] However, the above method requires pre-measurement of various parameters for brick laying and various processing and calculation of the parameters. The technical solution is relatively complex, which reduces the efficiency and accuracy of brick laying. Summary of the Invention

[0007] The main purpose of the present invention is to provide a control method, system, device and storage medium based on image comparison, which aims to automatically scan and generate a wall plan with a complete tile pattern and a corresponding border grid map, and automatically lay tiles according to these two maps, thereby improving the efficiency and effect of tile laying.

[0008] To achieve the above object, the present invention adopts the following technical solutions:

[0009] A control method based on image comparison includes the following steps:

[0010] Obtaining a tile mosaic pattern and a first wall pattern, and superimposing the tile mosaic pattern on the first wall pattern to generate a second wall pattern, where the first wall pattern is a scanned image of the wall to be paved;

[0011] Projecting the second wall pattern onto the wall to be paved to obtain a third wall pattern;

[0012] According to the third wall pattern, a frame grid pattern corresponding to the third wall pattern is obtained by laser carving on the wall to be paved;

[0013] The wall is tiled according to the third wall pattern and the frame grid diagram.

[0014] Furthermore, in the above-mentioned control method based on image comparison, the step of obtaining the tile splicing pattern and the first wall pattern includes:

[0015] Manually splicing the tiles to form a complete pattern;

[0016] The ceramic tiles and the wall to be laid are scanned and saved, thereby obtaining a ceramic tile splicing pattern and a first wall pattern.

[0017] Furthermore, in the above-mentioned control method based on image comparison, the step of superimposing the tile mosaic pattern on the first wall pattern to generate the second wall pattern includes:

[0018] Locating the center position of the first wall pattern;

[0019] The center of the tile splicing pattern is placed at the center of the first wall pattern, and the tile splicing pattern is kept extending in a preset direction.

[0020] Furthermore, in the above-mentioned control method based on image comparison, the preset directions are the directions of the four sides of the first wall pattern.

[0021] Furthermore, in the above-mentioned control method based on image comparison, the step of laying tiles on the wall according to the third wall pattern and the frame grid diagram specifically includes:

[0022] Query the best ratio of cement model and water for tiles through the database;

[0023] Prepare the pure cement slurry required for laying tiles according to the optimal ratio data;

[0024] Tiles are laid using pure cement slurry according to the third wall pattern and border grid pattern.

[0025] In addition, the present invention also provides a control system based on image comparison, the system comprising:

[0026] An acquisition unit, configured to acquire a tile splicing pattern and a first wall pattern;

[0027] a first generating unit, configured to superimpose the tile mosaic pattern onto a first wall pattern to generate a second wall pattern, wherein the first wall pattern is a scanned image of a wall to be paved;

[0028] a second generating unit, configured to project the second wall pattern onto a wall to be paved to obtain a third wall pattern;

[0029] A third generating unit is configured to, based on the third wall pattern, carve the wall surface to be paved by a laser to obtain a frame grid diagram corresponding to the third wall pattern;

[0030] A laying unit is used to lay tiles on the wall according to the third wall pattern and the frame grid diagram.

[0031] Furthermore, in the above-mentioned control system based on image comparison, the acquisition unit specifically includes:

[0032] A manual splicing subunit, used for manually splicing the tiles to form a complete pattern;

[0033] The scanning subunit is used to scan and save the tiles and the wall to be laid, so as to obtain the tile splicing pattern and the first wall pattern.

[0034] Furthermore, in the above-mentioned control system based on image comparison, the laying unit specifically includes:

[0035] The cement mixing subunit is used to query the optimal ratio data of cement model and water for tiles through the database, and to mix the pure cement slurry required for laying tiles according to the optimal ratio data.

[0036] The tile laying subunit is used to lay tiles using pure cement slurry according to the third wall pattern and the frame grid pattern.

[0037] In addition, the present invention also provides a control device based on image comparison, which includes: a memory, a processor, and an image comparison-based control program stored in the memory and executable on the processor, wherein the image comparison-based control program is configured to implement the steps of the above-mentioned image comparison-based control method.

[0038] In addition, the present invention further provides a storage medium storing a control program based on image comparison. When the control program based on image comparison is executed by a processor, the steps of the control method based on image comparison as described above are implemented.

[0039] The control method, system, device and storage medium based on image comparison of the present invention obtain a third wall pattern by superimposing the tile splicing pattern and the scanned image of the wall to be laid and projecting them, and a laser is used to carve a corresponding frame grid diagram on the wall to be laid. The tile laying is automatically completed according to the frame grid diagram, which effectively prevents dislocation when laying tiles, ensures the integrity of the tile pattern, and improves the work efficiency and effect of tile laying. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of the structure of a control device based on image comparison in a hardware operating environment according to an embodiment of the present invention;

[0041] Figure 2 This is a flow chart of an embodiment of a control method based on image comparison according to the present invention;

[0042] Figure 3 Schematic diagram of the structure of an embodiment of a control system based on image comparison of the present invention. DETAILED DESCRIPTION

[0043] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0044] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of a control device based on image comparison in the hardware operating environment involved in an embodiment of the present invention.

[0045] like Figure 1As shown, the image comparison-based control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display and an input unit, such as a keyboard. Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a wireless fidelity (WI-FI) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also be a storage device independent of the processor 1001.

[0046] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the control device based on image comparison, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0047] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module, and a control program based on image comparison.

[0048] exist Figure 1 In the image comparison-based control device shown, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the image comparison-based control device of the present invention can be set in the image comparison-based control device, and the image comparison-based control device calls the image comparison-based control program stored in the memory 1005 through the processor 1001, and executes the image comparison-based control method provided by the embodiment of the present invention.

[0049] The embodiment of the present invention provides a control method based on image comparison, referring to Figure 2 , Figure 2 This is a schematic diagram of the process of laying ceramic tiles according to the first embodiment of the present invention.

[0050] In this embodiment, the control method based on image comparison includes:

[0051] Step S1: obtaining a tile mosaic pattern and a first wall pattern, and superimposing the tile mosaic pattern on the first wall pattern to generate a second wall pattern, where the first wall pattern is a scanned image of the wall to be paved;

[0052] In specific implementation, when laying ceramic tiles, the present invention needs to first obtain a complete tile splicing pattern, that is, a tile splicing pattern laid on the target wall. The tile splicing pattern can be completed by the following two methods: one is manual splicing, that is, manually splicing the tiles into a complete pattern. Different tiles have different patterns, and may even be a painting. In order to maintain the complete tile pattern during laying, it is necessary to manually splice the complete tile splicing pattern in advance. It should be noted that the tile splicing pattern needs to be fixed with cement, and the robot will automatically complete operations such as applying cement. After the splicing is completed, the tiles and the wall to be laid are scanned by a camera and input into the device for storage, thereby obtaining the tile splicing pattern and the first wall pattern; the other is virtual splicing, that is, according to the on-site size data, the tile splicing process is simulated in the modeling software to obtain the tile splicing pattern and the first wall pattern.

[0053] Specifically, the step of obtaining the tile splicing pattern and the first wall pattern includes:

[0054] Manually splicing the tiles to form a complete pattern;

[0055] The ceramic tiles and the wall to be laid are scanned and saved, thereby obtaining a ceramic tile splicing pattern and a first wall pattern.

[0056] After obtaining the tile mosaic pattern and the first wall pattern, it is necessary to superimpose the tile mosaic pattern on the first wall pattern to generate a second wall pattern, that is, the second wall pattern is a wall plan with a complete tile mosaic pattern, that is, the tile mosaic pattern is superimposed on the first wall pattern according to a preset position, and the complete pattern of the tiles is maximized.

[0057] Specifically, the step of superimposing the tile mosaic pattern on the first wall pattern to generate the second wall pattern includes:

[0058] Locating the center position of the first wall pattern;

[0059] The center of the tile splicing pattern is placed at the center of the first wall pattern, and the tile splicing pattern is kept extending in a preset direction.

[0060] In this embodiment, the preset directions are the four-side directions of the first wall pattern. Of course, the preset directions may also be inclined directions, that is, the tile splicing pattern has a visual effect of inclined extension.

[0061] Step S2: Projecting the second wall pattern onto the wall to be paved to obtain a third wall pattern;

[0062] In a specific implementation, after obtaining the second wall pattern, the second wall pattern is projected onto the wall to be paved by a projector, which facilitates the subsequent laying of tiles.

[0063] Step S3: according to the third wall pattern, using a laser to carve the wall to be paved to obtain a frame grid corresponding to the third wall pattern;

[0064] In the specific implementation, in order to facilitate the robot to automatically lay tiles, a laser is used to engrave a border grid pattern corresponding to the third wall pattern on the wall to be laid, that is, the border grid pattern is engraved along the tile border to obtain a virtual border, which can prevent dislocation when laying tiles and ensure the integrity of the tile pattern, so as to guide the robot to automatically lay tiles. The robot will lay tiles according to the third wall pattern and the border grid pattern.

[0065] Step S4: tiling the wall according to the third wall pattern and the frame grid diagram.

[0066] In a specific implementation, before laying tiles, the robot needs to mix cement to obtain the optimal proportion of pure water cement, and then lay the tiles according to the third wall pattern and the frame grid diagram.

[0067] That is, the step S4 specifically includes:

[0068] Query the best ratio of cement model and water for tiles through the database;

[0069] Prepare the pure cement slurry required for laying tiles according to the optimal ratio data;

[0070] Tiles are laid using pure cement slurry according to the third wall pattern and border grid pattern.

[0071] In the embodiment of the present invention, a database of data on the optimal ratio of cement type and water required for the pure cement slurry needs to be collected in advance and imported into the database for robot query.

[0072] Also, refer to Figure 3 , Figure 3 The figure is a schematic diagram of the structure of an embodiment of a control system based on image comparison of the present invention. The system of the present invention includes:

[0073] An acquisition unit 100 is configured to acquire a tile splicing pattern and a first wall pattern;

[0074] A first generating unit 200 is configured to superimpose the tile mosaic pattern onto a first wall pattern to generate a second wall pattern, where the first wall pattern is a scanned image of a wall to be tiled;

[0075] A second generating unit 300 is configured to project the second wall pattern onto the wall to be paved to obtain a third wall pattern;

[0076] The third generating unit 400 is configured to, based on the third wall pattern, carve the wall surface to be paved by a laser to obtain a frame grid diagram corresponding to the third wall pattern;

[0077] The laying unit 500 is used to lay tiles on the wall according to the third wall pattern and the frame grid diagram.

[0078] The acquisition unit 100 specifically includes:

[0079] A manual splicing subunit 101 is used to manually splice the tiles to form a complete pattern;

[0080] The scanning subunit 102 is used to scan and save the tiles and the wall to be laid, so as to obtain a tile splicing pattern and a first wall pattern.

[0081] The laying unit 500 specifically includes:

[0082] The cement mixing subunit 501 is used to query the optimal ratio data of cement model and water for tiles through the database, and mix the pure cement slurry required for laying tiles according to the optimal ratio data.

[0083] The tile laying subunit 502 is configured to lay tiles using pure cement slurry according to the third wall pattern and the frame grid pattern.

[0084] The specific implementation of the control system based on image comparison of the present invention is basically the same as the above-mentioned embodiments of the control method based on image comparison, and will not be repeated here.

[0085] In addition, the present invention also proposes a control device based on image comparison, which includes a memory, a processor, and an image comparison-based control program stored on the memory and runnable on the processor, wherein: when the image comparison-based control program is executed by the processor, the image comparison-based control method described in each embodiment of the present invention is implemented.

[0086] In addition, the present invention also proposes a computer-readable storage medium on which a control program based on image comparison is stored. The computer-readable storage medium may be Figure 1The memory in the terminal may also be at least one of a ROM (Read-Only Memory) / RAM (Random Access Memory), a magnetic disk, and an optical disk. The computer-readable storage medium includes a number of instructions for enabling an image comparison-based control device having a processor to execute the image comparison-based control method described in various embodiments of the present invention.

[0087] Compared with the existing technology, the control method, system, equipment and storage medium based on image comparison of the present invention obtain a third wall pattern by superimposing the tile splicing pattern and the scanned image of the wall to be laid and projecting it, and the laser is used to engrave the corresponding border grid map on the wall to be laid, and the tile laying is automatically completed according to the border grid map, which effectively prevents dislocation when laying tiles, ensures the integrity of the tile pattern, and improves the work efficiency and effect of tile laying.

[0088] The description and application of the present invention here are illustrative and are not intended to limit the scope of the present invention to the above-described embodiments. The deformation and changes of the embodiments disclosed here are possible, and the replacement of the embodiments and the various components that are equivalent are well known to those of ordinary skill in the art. It should be clear to those skilled in the art that the present invention can be realized in other forms, structures, arrangements, proportions, and with other components, materials and parts without departing from the spirit or essential characteristics of the present invention. Other deformation and changes can be made to the embodiments disclosed here without departing from the scope and spirit of the present invention.

Claims

1. A control method based on image comparison, characterized in that: The method comprises the following steps: Obtaining a tile mosaic pattern and a first wall pattern, and superimposing the tile mosaic pattern on the first wall pattern to generate a second wall pattern, where the first wall pattern is a scanned image of the wall to be paved; Projecting the second wall pattern onto the wall to be paved to obtain a third wall pattern; According to the third wall pattern, a frame grid pattern corresponding to the third wall pattern is obtained by laser carving on the wall to be paved; The wall is tiled according to the third wall pattern and the frame grid diagram.

2. The control method based on image comparison according to claim 1, characterized in that: The step of obtaining the tile splicing pattern and the first wall pattern includes: Manually splicing the tiles to form a complete pattern; The ceramic tiles and the wall to be laid are scanned and saved, thereby obtaining a ceramic tile splicing pattern and a first wall pattern.

3. The control method based on image comparison according to claim 2, characterized in that: The step of superimposing the tile mosaic pattern on the first wall pattern to generate a second wall pattern includes: Locating the center position of the first wall pattern; The center of the tile splicing pattern is placed at the center of the first wall pattern, and the tile splicing pattern is kept extending in a preset direction.

4. The control method based on image comparison according to claim 3, characterized in that: The preset directions are the four side directions of the first wall pattern.

5. The control method based on image comparison according to claim 1, characterized in that: The step of laying tiles on the wall according to the third wall pattern and the frame grid diagram specifically includes: Query the best ratio of cement model and water for tiles through the database; Prepare the pure cement slurry required for laying tiles according to the optimal ratio data; Tiles are laid using pure cement slurry according to the third wall pattern and border grid pattern.

6. A control system based on image comparison, characterized in that: The system comprises: An acquisition unit, configured to acquire a tile splicing pattern and a first wall pattern; a first generating unit, configured to superimpose the tile mosaic pattern onto a first wall pattern to generate a second wall pattern, wherein the first wall pattern is a scanned image of a wall to be paved; a second generating unit, configured to project the second wall pattern onto a wall to be paved to obtain a third wall pattern; A third generating unit is configured to, based on the third wall pattern, carve the wall surface to be paved by a laser to obtain a frame grid diagram corresponding to the third wall pattern; A laying unit is used to lay tiles on the wall according to the third wall pattern and the frame grid diagram.

7. The image comparison-based control system according to claim 6, characterized in that: The acquisition unit specifically includes: A manual splicing subunit, used for manually splicing the tiles to form a complete pattern; The scanning subunit is used to scan and save the tiles and the wall to be laid, so as to obtain the tile splicing pattern and the first wall pattern.

8. The image comparison-based control system according to claim 6, characterized in that: The laying unit specifically includes: The cement mixing subunit is used to query the optimal ratio data of cement model and water for tiles through the database, and mix the pure cement slurry required for laying tiles according to the optimal ratio data; The tile laying subunit is used to lay tiles using pure cement slurry according to the third wall pattern and the frame grid pattern.

9. A control device based on image comparison, characterized in that: The device includes: a memory, a processor, and an image comparison-based control program stored in the memory and executable on the processor, wherein the image comparison-based control program is configured to implement the steps of the image comparison-based control method according to any one of claims 1 to 5.

10. A storage medium, characterized in that: The storage medium stores a control program based on image comparison, and when the control program based on image comparison is executed by the processor, the steps of the control method based on image comparison according to any one of claims 1 to 5 are implemented.

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