Robot brick laying method based on force-position hybrid control and brick laying robot

Abstract

The present application relates to the technical field of industrial robots, and particularly relates to a robot brick laying method based on force-position hybrid control and a brick laying robot, wherein the method comprises the following steps: determining the upper limit of force of an end effector of the robot and the height of a brick laying completion surface; making the robot take a brick and acquiring position information and force information of the end effector of the robot in six dimensions; making the end effector hold the brick and move to a position to be laid according to the position information of the end effector in the six dimensions and the current position to be laid; making the end effector perform a pressing operation and acquiring position information and force information of the end effector on the z-axis in real time during the pressing operation; and controlling the pressing operation according to the position information and force information of the end effector on the z-axis. The present application can accurately adjust the brick surface to the vicinity of a preset brick laying completion surface, thereby improving the brick laying quality.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, and in particular to a robot brick-laying method and a brick-laying robot based on force-position hybrid control. Background Technology

[0002] Tile-laying robots, as specialized industrial robots, replace traditional manual tile laying. Currently, tile laying mainly involves two methods: dry mortar laying and tile adhesive laying. Dry mortar laying typically involves spreading dry mortar on the ground, then applying cement slurry to the back of the tile before laying, aligning joints, and pressing. Tile adhesive laying, on the other hand, involves applying tile adhesive to the back of the tile and then laying it directly on the ground or wall. Both methods require the use of the robot's end effector for pressing and other actions, placing high demands on the quality of the dry mortar or cement slurry used; otherwise, unevenness or hollow spots may occur after laying. Summary of the Invention

[0003] In view of the problems of unevenness or hollow spots that are easily caused by robot tiling in the existing technology, the present invention provides a robot tiling method and tiling robot based on force-position hybrid control, which can accurately adjust the brick surface to the preset tiling completion surface height and improve the tiling quality.

[0004] In a first aspect, embodiments of the present invention provide a robot brick-laying method based on force-position hybrid control, comprising:

[0005] Determine the upper limit of the force on the robot's end effector and the height of the finished paving surface;

[0006] The robot is instructed to pick up a brick, and the position and force information of the robot's end effector in six dimensions are obtained. The six dimensions include the x-axis and y-axis in the horizontal plane, the z-axis in the vertical direction, and the rotational dimensions Rx, Ry, and Rz with the x-axis, y-axis, and z-axis as the rotation axes, respectively.

[0007] Based on the position information of the end effector in six dimensions and the current position to be paved, the end effector is instructed to move the brick to the position to be paved.

[0008] The end effector is instructed to perform a pressing operation, and during the pressing process, only the position information and force information of the end effector on the z-axis are acquired in real time;

[0009] Based on the position and force information of the end effector on the z-axis, the downward pressing operation is controlled, including:

[0010] Based on the position information of the end effector on the z-axis, the height of the brick surface is monitored in real time, and at the same time, based on the force information of the end effector on the z-axis, the force exerted on the robot by the brick surface is monitored in real time.

[0011] If the height of the brick surface reaches near the finished paving surface, the system determines whether there is a void under the brick surface based on the force information of the end effector on the z-axis. If so, the system stops working and an alarm is triggered. Otherwise, the end effector is separated from the brick, the current paving position is updated, and the system returns to the step of having the robot pick up the brick. The condition for reaching near the finished paving surface is that the difference between the height of the brick surface and the height of the finished paving surface does not exceed a preset height difference threshold.

[0012] If the force exerted on the end effector by the brick surface on the z-axis continues to increase to the upper limit of the force, the robot stops pressing down and it is determined whether the height of the brick surface has reached the vicinity of the completed tiling surface. If so, the end effector is separated from the brick, the current tiling position is updated, and the process returns to the step of having the robot pick up the brick. Otherwise, the position and force information of the end effector in the z-axis, Rx, and Ry dimensions are obtained, and the robot moves the brick surface horizontally downward by kneading or vibrating until the height of the brick surface reaches the vicinity of the completed tiling surface. Then, the position and force information of the end effector in the x-axis, y-axis, and Rz dimensions are obtained again, and the brick's pose is adjusted. After all six dimensions are adjusted, the end effector is separated from the brick, the current tiling position is updated, and the process returns to the step of having the robot pick up the brick.

[0013] Optionally, determining the upper limit of the force on the end effector of the robot includes:

[0014] Based on the robot's operating parameters, determine the first upper limit of the force on the end effector along the z-axis;

[0015] A second upper limit of force is determined when the end effector presses down along the z-axis until the robot leaves the ground; the condition for determining that the robot leaves the ground is that the detection result of the force sensor installed under the robot base decreases to below a preset gravity threshold.

[0016] The upper limit of the force on the robot's end effector is N times the smaller of the first upper limit of force and the second upper limit of force; the value of N ranges from 3 / 4 to 5 / 6.

[0017] Optionally, controlling the downward pressure operation further includes:

[0018] If the end effector reaches its maximum force limit three times in six dimensions due to the force exerted by the brick surface during the process of moving the brick surface downward by kneading or vibrating, it will stop working and sound an alarm.

[0019] Optionally, determining whether there are hollow areas under the brick surface includes:

[0020] Determine whether the force on the end effector on the z-axis is less than a preset lower limit; if it is less, it is assumed that there is a hollow area under the brick surface; otherwise, it is assumed that there is no hollow area under the brick surface.

[0021] Optionally, after determining the height of the finished paving surface and before instructing the robot to remove the brick, the method further includes:

[0022] After the robot is moved to the work position, it completes the material loading operation, fine leveling operation and grouting operation in sequence; the material loading operation includes adding dry mortar to the area to be paved until the height of the dry mortar exceeds the height of the finished paving surface.

[0023] Optionally, the fine leveling operation includes:

[0024] The robot is instructed to activate the fine spreading tool and move it on the surface of the dry mortar to achieve fine spreading.

[0025] Optionally, the grouting operation includes:

[0026] The robot is instructed to pick up the grouting mechanism, the grouting mechanism is activated, and the grouting mechanism's output end is used to apply grout to the flattened dry mortar surface.

[0027] If the grouting mechanism is detachable, it can be removed after the grouting operation is completed.

[0028] Optionally, the position information of the end effector in the six dimensions is determined by machine vision in the x-axis, y-axis and Rz rotation dimensions, by machine vision or point laser in the z-axis dimension, and by gyroscope or point laser value calculation in the Ry and Rz rotation dimensions.

[0029] Secondly, embodiments of the present invention also provide a paving robot for implementing the method described in any of the above claims; the paving robot includes: a movable base and an end effector disposed on the movable base.

[0030] Optionally, the base of the paving robot is equipped with a force sensor for real-time monitoring of the robot's gravity.

[0031] When the real-time gravity of the paving robot is less than a preset gravity threshold, the paving robot will trigger an alarm.

[0032] This invention provides a robot brick-laying method and a brick-laying robot based on force-position hybrid control. Considering that robot brick-laying is prone to problems such as height differences or hollow areas, this invention adopts a force-position hybrid control method to control the process of the robot pressing down on the brick surface. It can achieve paving under a certain load. Through the force-position control process, the brick to be laid is pressed down to the height of the finished surface within a certain height mortar range, thereby ensuring the height difference and improving the quality of industrial robot brick-laying. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a flowchart of a robot brick-laying method based on force-position hybrid control provided by an embodiment of the present invention;

[0035] Figure 2 This is a flowchart of another robot brick-laying method based on force-position hybrid control provided in an embodiment of the present invention;

[0036] Figure 3 This is a flowchart of controlling the downward pressing operation in one embodiment of the present invention. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0038] As mentioned earlier, there are currently two main methods for tiling: dry mortar tiling and tile adhesive tiling. Both methods require the use of a robot's end effector for pressing and other actions, placing high demands on the quality of the dry mortar or cement slurry used. Otherwise, unevenness or hollow spots may occur on the tiled surface after tiling. If insufficient dry mortar or cement slurry is used, hollow spots or tiles lower than the finished tiling surface may result. Conversely, if too much material is used, the robot's weight must be within a certain range, and the end effector's load capacity is limited. Excessive pressure may cause the robot to lift off the ground, while insufficient pressing force will result in the finished tiling surface being too high. Both of these situations lead to unevenness on the tiled surface, affecting the tiling quality. In view of this, this invention provides a robot tiling method based on force-position hybrid control. Through force-position hybrid control, the tiling pressing operation is precisely controlled, allowing the robot to accurately adjust the tile surface to the preset finished tiling height within its tolerance range, thereby improving the tiling quality.

[0039] The following describes the specific implementation of the above concept.

[0040] Please refer to Figure 1 This invention provides a robot brick-laying method based on force-position hybrid control, the method comprising:

[0041] Step 100: Determine the upper limit of the force on the robot's end effector and the height of the finished paving surface;

[0042] For example, horizontal laser lines can be set to indicate the height of the finished paved surface;

[0043] Step 102: Instruct the robot to pick up the brick, and obtain the position information and force information of the robot's end effector in six dimensions;

[0044] The six dimensions include the x-axis and y-axis in the horizontal plane, the z-axis in the vertical direction, and the rotational dimensions Rx, Ry, and Rz with the x-axis, y-axis, and z-axis as the rotation axes, respectively.

[0045] Step 104: Based on the position information of the end effector in six dimensions and the current position to be paved, instruct the end effector to move the brick to the position to be paved.

[0046] Step 106: Instruct the end effector to perform a pressing operation, and during the pressing process, only the position information and force information of the end effector on the z-axis are acquired in real time;

[0047] In other words, during the pressing process in step 106, it is no longer necessary to acquire position and force information in the other five dimensions, thereby reducing the measurement burden and processing speed.

[0048] Step 108: Based on the position information and force information of the end effector on the z-axis, control the downward pressing operation, including:

[0049] Based on the position information of the end effector on the z-axis, the height of the brick surface is monitored in real time, and at the same time, based on the force information of the end effector on the z-axis, the force exerted on the robot by the brick surface is monitored in real time.

[0050] If the height of the brick surface reaches near the finished paving surface, the system determines whether there is a void under the brick surface based on the force information of the end effector on the z-axis. If so, the system stops working and an alarm is triggered; otherwise, the end effector is separated from the brick, the current paving position is updated, and the system returns to the step of having the robot pick up the brick, i.e., returns to step 102. The condition for determining whether the height of the brick surface reaches near the finished paving surface is that the difference between the height of the brick surface and the height of the finished paving surface does not exceed a preset height difference threshold. For example, the preset height difference threshold can be set to 0.5mm, that is, when the difference between the height of the brick surface and the height of the finished paving surface does not exceed 0.5mm, the height of the brick surface is considered to have reached near the finished paving surface. In other embodiments, other preset height difference thresholds can also be set as needed.

[0051] If the force exerted on the end effector by the brick surface on the z-axis continues to increase to the upper limit of the force, the robot stops pressing down and it is determined whether the height of the brick surface has reached the vicinity of the finished paving surface. If so, the end effector is separated from the brick, the current paving position is updated, and the robot is returned to the step of picking up the brick, i.e., returning to step 102. Otherwise, the position and force information of the end effector in the z-axis, Rx, and Ry dimensions are obtained, and the robot is instructed to move the brick surface horizontally downward by kneading or vibrating until the height of the brick surface reaches the vicinity of the finished paving surface. Then, the position and force information of the end effector in the x-axis, y-axis, and Rz dimensions are obtained again, and the brick's pose is adjusted. After all six dimensions are adjusted, the brick is in the specified paving position, including the brick joints, brick angle, and brick height, all of which meet the requirements. Then, the end effector is separated from the brick, the current paving position is updated, and the robot is returned to the step of picking up the brick, i.e., returning to step 102.

[0052] In this embodiment of the invention, a force-position combination method is used for brick-laying control. By ensuring that the height of the dry mortar exceeds the height of the finished brick-laying surface, hollow areas due to insufficient material are avoided. During the pressing operation control in step 108, the height of the brick surface and the force on the robot's z-axis are monitored in real time. If the brick surface reaches the vicinity of the finished brick-laying surface first, the robot detects whether hollow areas exist based on the force. If so, the operation stops and an alarm is triggered. If the force exerted on the end effector by the brick surface on the z-axis increases to the upper limit of the force, the robot detects whether further adjustment is needed based on the brick surface height. If further adjustment is needed, the z-axis data is acquired, and the brick surface is pressed down by kneading or vibrating. While pressing down, the two rotational dimensions Rx and Ry remain unchanged, i.e., the brick surface is kept level. After reaching the vicinity of the finished brick-laying surface, the specific position and angle of the brick on the x-axis, y-axis, and Rz-axis are adjusted, such as for alignment, to achieve brick-laying that meets the height difference requirements and improves the quality of robot brick-laying. The kneading process can be achieved by moving the bricks in the front, back, left, and right directions. The specific direction of movement can be determined based on the available space around the bricks to be laid. Vibration can be performed in the original position. However, regardless of kneading or vibration, the force on the robot on the z-axis should not exceed the upper limit of the force to avoid problems such as the robot lifting off the ground or overloading of the end effector.

[0053] Furthermore, during the pressing process, this invention only acquires the position and force information of the end effector on the z-axis in real time, reducing the burden of information acquisition and processing. When kneading or vibrating is required, the position and force information of the end effector on the Rx and Ry dimensions are acquired to ensure that the brick surface is horizontal during the descent. When it is necessary to adjust the position of the brick on the x-axis, y-axis, and Rz dimension, the position and force information of the end effector on the x-axis, y-axis, and Rz dimensions are acquired to align the brick joints. When laying one brick and preparing to lay the next, the position and force information of the robot's end effector on all six dimensions are acquired, thereby achieving precise brick picking and movement operations while reducing the amount of information processing.

[0054] The following describes how each step is executed.

[0055] Optionally, such as Figure 2 and Figure 3 As shown, the method, after determining the height of the finished paving surface and before instructing the robot to pick up the bricks, further includes:

[0056] After the robot is moved to the work position, it completes the material loading operation, fine leveling operation and slurry application operation in sequence;

[0057] The material feeding operation includes adding dry mortar to the area to be paved until the height of the dry mortar exceeds the height of the finished paving surface.

[0058] Furthermore, before the robot picks up the bricks, in addition to setting up a horizontal laser line, preliminary work may include manually mixing the bricks and placing them in the designated positions. After completing these preliminary tasks, the robot can be started and the tiling scene can be loaded.

[0059] Optionally, the feeding operation further includes:

[0060] Check the height of the dry mortar, ensuring that the height of the dry mortar does not exceed the height of the finished paved surface by more than 1 cm.

[0061] Excessive mortar may make it difficult for the robot to press the brick surface to the preset height of the finished paving surface. To avoid overfilling, it is necessary to control the height of the dry mortar during loading so that it does not exceed the height of the finished paving surface by too much. In other embodiments, the height may be set to exceed the finished paving surface as needed.

[0062] Optionally, the fine leveling operation includes:

[0063] The robot is instructed to activate the fine spreading tool and move it on the surface of the dry mortar to achieve fine spreading.

[0064] During the fine leveling operation, the robot moves and uses relevant sensors to find the starting position for fine leveling; based on the placed laser line, it adjusts to the corresponding height using sensors and maintains a fixed height, angle, and levelness for fine leveling of the dry mortar. Preferably, the leveling quality is improved by using a uniformly moving end effector.

[0065] Optionally, the grouting operation includes:

[0066] The robot is instructed to pick up the grouting mechanism, the grouting mechanism is activated, and the grouting mechanism's output end is used to apply grout to the flattened dry mortar surface.

[0067] If the grouting mechanism is detachable, it can be removed after the grouting operation is completed.

[0068] After completing the fine leveling operation, the robot moves to the grouting mechanism and then back to the starting position of the finely leveled dry mortar. It then activates the grouting pump, valves, and other controllers, moving horizontally at a constant height based on the laser line height obtained from sensors. This ensures the cement grout is evenly applied to the finely leveled dry mortar until the grouting operation is complete. The fine leveling process and the grouting process are controlled by the machine, which adjusts the grout output speed and the machine speed to ensure the uniformity and smoothness of the grout in contact with the brick surface during subsequent bricklaying.

[0069] Optionally, for step 100, the upper limit of the force can be determined as follows:

[0070] Based on the robot's operating parameters, determine the first upper limit of the force on the end effector along the z-axis;

[0071] A second upper limit of force is determined when the end effector presses down along the z-axis until the robot leaves the ground; the condition for determining that the robot leaves the ground is that the detection result of the force sensor installed under the robot base decreases to below a preset gravity threshold; the gravity threshold is preferably not less than 1 / 3 of the robot's static gravity;

[0072] The upper limit of the force on the robot's end effector is N times the smaller of the first upper limit of force and the second upper limit of force; the value of N ranges from 3 / 4 to 5 / 6, preferably 4 / 5.

[0073] By employing the above embodiments, overload or lift-off situations can be effectively avoided for the robot. Overload occurs when the force on the end effector exceeds the preset upper limit, potentially causing robot damage. Lift-off occurs when excessive downward force from the robot causes its base to lift off the ground. Once lifted off the ground, the information collected by the robot may deviate from the actual situation, potentially leading to tipping over and affecting the paving effect. Therefore, precise control of the robot's force during actual paving is essential. Taking 4 / 5 of the smaller of the first and second upper force limits as the upper force limit for the robot's end effector ensures that the robot does not experience extreme situations and can always operate normally.

[0074] Optionally, for step 108, determining whether there are hollow areas under the brick surface includes:

[0075] Determine whether the force on the end effector on the z-axis is less than a preset lower limit; if it is less, it is assumed that there is a hollow area under the brick surface; otherwise, it is assumed that there is no hollow area under the brick surface.

[0076] The above embodiment uses the force exerted on the end effector along the z-axis being less than a preset lower limit as the condition for determining the presence of hollow areas. No other detection methods are needed; the insufficient force exerted on the brick surface by the robot alone is sufficient to determine that the mortar under the brick is inadequate, indicating that the currently laid brick does not meet the requirements. The machine will then pause laying, prompting manual adjustment to promptly resolve any potential hollow area issues. In other embodiments, other methods may be used to determine the presence of hollow areas.

[0077] Optionally, controlling the pressing operation in step 108 further includes:

[0078] If the end effector reaches its maximum force limit three times in six dimensions due to the force exerted by the brick surface during the process of moving the brick surface downward by kneading or vibrating, it will stop working and sound an alarm.

[0079] In the above embodiment, during the kneading or vibration process, the force exerted on the end effector by the brick surface on the z-axis is detected. If the end effector reaches the upper limit of force three times in six dimensions, that is, during the kneading or vibration process, the force on the end effector in the six dimensions does not decrease and the height does not reach the standard height, it is considered that the kneading or vibration cannot make the brick surface drop further, confirming that too much material has been added. At this time, the robot alone can hardly solve the problem, and it is necessary to alarm and notify the staff to intervene to ensure the quality of brick laying.

[0080] Optionally, the position information of the end effector in the six dimensions is determined by machine vision in the x-axis, y-axis, and Rz rotational dimensions, by machine vision or point laser in the z-axis dimension, and by gyroscope or point laser value calculation in the Ry and Rz rotational dimensions.

[0081] The above embodiments determine the position information of the end effector in six dimensions using machine vision and gyroscopes or point lasers. Gyroscopes or point lasers can quickly determine the tilt angle of the brick surface relative to the horizontal plane (i.e., the plane formed by the x-axis and y-axis), offering faster processing speed and better resolution compared to machine vision. In other embodiments, other sensors or detection methods can also be used to determine the six-dimensional data.

[0082] This invention also provides a paving robot for implementing the method described in any of the above embodiments; the paving robot includes: a movable base and an end effector disposed on the movable base.

[0083] Optionally, the base of the paving robot is equipped with a force sensor for real-time monitoring of the robot's gravity.

[0084] When the real-time gravity of the paving robot is less than a preset gravity threshold, the paving robot will trigger an alarm.

[0085] In the above embodiment, a force sensor is installed on the base of the paving robot. When the force sensor determines the upper limit of the force on the end effector of the robot in step 100, it can be used to determine the second upper limit of the force when the end effector presses down along the z-axis until the robot leaves the ground. During the paving process, it can also continuously monitor whether the robot is leaving the ground to ensure that the data information collected by the paving robot is accurate and that the working state of the paving robot body is stable and that there will be no problems such as tipping over.

[0086] The embodiments of the present invention have at least the following beneficial effects:

[0087] 1. In one embodiment of the present invention, a robot brick-laying method based on force-position hybrid control is provided. This method uses a force-position combination approach to enable industrial robots to efficiently and accurately complete brick laying, ensuring that the height difference and hollow rate of the laid bricks are within acceptable limits. The efficiency and accuracy of robot operation are higher than those of manual labor; the repeatability and replicability are also stronger than those of manual labor. When the mortar meets the requirements, the height difference and brick joints of the laid bricks meet the requirements, and hollow areas are basically not present; when potentially problematic bricks are found, the robot can also promptly remind and modify them, avoiding the risk of rework later.

[0088] 2. In one embodiment of the present invention, a brick-laying robot is also provided, which can lay bricks under a certain load. Through a force-position control process, the bricks to be laid are pressed down to the height of the finished surface within a certain height mortar range, thereby ensuring the height difference.

[0089] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0090] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot tiling method based on a force-position hybrid control, characterized by, include: Determine the upper limit of the force on the robot's end effector and the height of the finished paving surface; The robot is instructed to pick up a brick, and the position and force information of the robot's end effector in six dimensions are obtained. The six dimensions include the x-axis and y-axis in the horizontal plane, the z-axis in the vertical direction, and the rotational dimensions Rx, Ry, and Rz with the x-axis, y-axis, and z-axis as the rotation axes, respectively. Based on the position information of the end effector in six dimensions and the current position to be paved, the end effector is instructed to move the brick to the position to be paved. The end effector is instructed to perform a pressing operation, and during the pressing process, only the position information and force information of the end effector on the z-axis are acquired in real time; Based on the position and force information of the end effector on the z-axis, the downward pressing operation is controlled, including: Based on the position information of the end effector on the z-axis, the height of the brick surface is monitored in real time, and at the same time, based on the force information of the end effector on the z-axis, the force exerted on the robot by the brick surface is monitored in real time. If the height of the brick surface reaches near the finished paving surface, the system determines whether there is a void under the brick surface based on the force information of the end effector on the z-axis. If so, the system stops working and an alarm is triggered. Otherwise, the end effector is separated from the brick, the current paving position is updated, and the system returns to the step of having the robot pick up the brick. The condition for reaching near the finished paving surface is that the difference between the height of the brick surface and the height of the finished paving surface does not exceed a preset height difference threshold. If the force exerted on the end effector by the brick surface on the z-axis continues to increase to the upper limit of the force, the robot stops pressing down and it is determined whether the height of the brick surface has reached the vicinity of the completed tiling surface. If so, the end effector is separated from the brick, the current tiling position is updated, and the process returns to the step of having the robot pick up the brick. Otherwise, the position and force information of the end effector in the z-axis, Rx, and Ry dimensions are obtained, and the robot moves the brick surface horizontally downward by kneading or vibrating until the height of the brick surface reaches the vicinity of the completed tiling surface. Then, the position and force information of the end effector in the x-axis, y-axis, and Rz dimensions are obtained again, and the brick's pose is adjusted. After all six dimensions are adjusted, the end effector is separated from the brick, the current tiling position is updated, and the process returns to the step of having the robot pick up the brick.

2. The method according to claim 1, characterized in that, Determining the upper limit of the force on the end effector of the robot includes: Based on the robot's operating parameters, determine the first upper limit of the force on the end effector along the z-axis; A second upper limit of force is determined when the end effector presses down along the z-axis until the robot leaves the ground; the condition for determining that the robot leaves the ground is that the detection result of the force sensor installed under the robot base decreases to below a preset gravity threshold. The upper limit of the force on the robot's end effector is N times the smaller of the first upper limit of force and the second upper limit of force; the value of N ranges from 3 / 4 to 5 / 6.

3. The method according to any one of claims 1 or 2, characterized in that, The control of the downward pressing operation also includes: If the end effector reaches its maximum force limit three times in six dimensions due to the force exerted by the brick surface during the process of moving the brick surface downward by kneading or vibrating, it will stop working and sound an alarm.

4. The method according to any one of claims 1 or 2, characterized in that, The determination of whether there are hollow areas under the brick surface includes: Determine whether the force on the end effector on the z-axis is less than a preset lower limit; if it is less, it is assumed that there is a hollow area under the brick surface; otherwise, it is assumed that there is no hollow area under the brick surface.

5. The method according to claim 1, characterized in that, The method, after determining the height of the finished paving surface and before instructing the robot to pick up the brick, further includes: After the robot is moved to the work position, it completes the material loading operation, fine leveling operation and grouting operation in sequence; the material loading operation includes adding dry mortar to the area to be paved until the height of the dry mortar exceeds the height of the finished paving surface.

6. The method according to claim 5, characterized in that, The fine leveling operation includes: The robot is instructed to activate the fine spreading tool and move it on the surface of the dry mortar to achieve fine spreading.

7. The method according to claim 6, characterized in that, The grouting operation includes: The robot is instructed to pick up the grouting mechanism, the grouting mechanism is activated, and the grouting mechanism's output end is used to apply grout to the flattened dry mortar surface. If the grouting mechanism is detachable, it can be removed after the grouting operation is completed.

8. The method according to claim 1, characterized in that, The position information of the end effector in the six dimensions is determined by machine vision in the x-axis, y-axis and Rz rotation dimensions, by machine vision or point laser in the z-axis dimension, and by gyroscope or point laser value calculation in the Ry and Rz rotation dimensions.

9. A tiling robot characterized by, For implementing the method as described in any one of claims 1-8; the paving robot includes: a movable base and an end effector disposed on the movable base.

10. Tile laying robot according to claim 9, characterized in that The base of the paving robot is equipped with a force sensor for real-time monitoring of the robot's gravity. When the real-time gravity of the paving robot is less than a preset gravity threshold, the paving robot will trigger an alarm.

Images