A multi-machine collaborative bricklaying system and a multi-machine collaborative bricklaying method

Abstract

This application relates to the technical field of industrial robots in the construction industry, and particularly to a multi-robot collaborative brick laying system and a multi-robot collaborative brick laying method. In the multi-robot collaborative brick laying system, the paving robot can perform floor tile paving operations according to a predetermined operation path, determine the brick taking position when bricks need to be replenished based on the operation path and the number of bricks to be paved, and send the brick taking position to the brick feeding device; the brick feeding device obtains the brick feeding position according to the brick taking position; and moves to the brick feeding position in advance so that the paving robot can immediately take bricks from the brick placing platform of the brick feeding device when it reaches the brick taking position. This multi-robot collaborative brick laying system can achieve fully automated brick laying, and can control the brick feeding device to reach the designated position in advance before the current brick to be paved is completed and wait for the paving robot to replenish bricks, thereby avoiding the waiting time consumed by the paving robot during the brick replenishment process, realizing rapid brick replenishment, and improving the paving efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of industrial robots in the construction industry, and in particular to a multi-machine collaborative tiling system and a multi-machine collaborative tiling method. Background Art

[0002] Traditionally, floor tile laying is performed manually in construction. The lack of standardized procedures and the varying experience of workers can easily lead to poor tile quality. With the development of the industry, some tiling robots capable of automated tiling have emerged on the market. However, these robots typically only have separate functions for laying tiles or grout, resulting in a low level of automation. Summary of the Invention

[0003] In order to overcome the problems existing in the related technology, the present application provides a multi-machine collaborative tiling system and a multi-machine collaborative tiling method. The multi-machine collaborative tiling system can realize fully automated tiling, and can control the brick feeding equipment to reach the brick feeding position in advance when the paving robot needs to add bricks, so that the paving robot can quickly add bricks and improve the paving efficiency.

[0004] According to a first aspect of an embodiment of the present application, there is provided a multi-machine collaborative tile laying system, comprising: a laying robot and a tile feeding device;

[0005] The paving robot includes a first mobile chassis, and a main control unit, a brick bin and a brick laying mechanism arranged on the first mobile chassis;

[0006] The brick conveying device includes a second mobile chassis, a brick placing platform and a first slave control unit provided on the second mobile chassis, wherein the first slave control unit is communicatively connected with the master control unit;

[0007] The master control unit is used to control the paving robot to perform floor tile paving operations according to a predetermined operation path and obtain the number of tiles to be laid in the brick bin; the master control unit is also used to determine the brick retrieval position based on the operation path and the number of tiles to be laid, and send the brick retrieval position to the first slave control unit;

[0008] The first slave control unit is used to obtain the brick delivery position according to the brick retrieval position; the first slave control unit is also used to control the second mobile chassis to drive the brick delivery equipment to move to the brick delivery position, so that when the paving robot moves to the brick retrieval position, it can take bricks from the brick placement platform and perform floor tile paving operations.

[0009] In an optional embodiment, the apparatus further includes a slurry feeding device, the slurry feeding device including a third mobile chassis, and a slurry feeding unit and a second slave control unit provided on the third mobile chassis, wherein the second slave control unit is communicatively connected to the main control unit;

[0010] The paving robot further includes a mortar spreading mechanism located on the first mobile chassis, and the mortar spreading mechanism has a hopper;

[0011] The main control unit is further configured to control the paving robot to perform mortar paving according to a predetermined operation path, and obtain the amount of mortar in the silo; the main control unit is further configured to determine a mortar replenishment position according to the operation path and the amount of mortar, and send the mortar replenishment position to the second slave control unit;

[0012] The second slave control unit is configured to obtain a mortar feeding position according to the mortar replenishment position; the second slave control unit is further configured to control the third mobile chassis to drive the mortar feeding device to move to the mortar feeding position, so that when the paving robot moves to the mortar replenishment position, mortar replenishment can be performed through the mortar replenishment unit.

[0013] In an optional embodiment, the brick taking position is the working position where the paving robot is located on the operation path when the number of bricks to be paved in the brick silo is zero.

[0014] In an optional embodiment, a first ranging unit is provided on the brick feeding device;

[0015] When the brick feeding device moves to the brick feeding position and the paving robot moves to the brick taking position, the first ranging unit is configured to measure the relative position information between the brick feeding device and the paving robot;

[0016] The first slave control unit is configured to control the movement of the second mobile chassis according to the relative position information to adjust the relative position between the brick feeding device and the paving robot.

[0017] In an optional embodiment, the hopper is an external hopper; the paving robot further includes a mortar spreading mechanism located on the first mobile chassis, and the mortar spreading mechanism has an external hopper;

[0018] The external hopper is detachably mounted on the first mobile chassis, and the outlet of the external hopper is in communication with the inlet of the mortar spreading mechanism.

[0019] In an optional embodiment, the main control unit is further configured to obtain the mortar loading amount in the external hopper, determine the mortar replenishment position where the paving robot is located when the external hopper needs to be replaced according to the operation path, and notify the external of the mortar replenishment position.

[0020] In an optional embodiment, the mortar spreading mechanism includes a mortar pumping unit; a sunken mounting position is provided in the middle of the first mobile chassis; the mortar pumping unit is mounted in the sunken mounting position;

[0021] An electric control cabinet is also provided on the first moving chassis. A brick bin is provided on the top of the electric control cabinet. The middle part of the electric control cabinet is hollowed out to form a glue storage part for the grouting unit. An external hopper is detachably installed above the glue storage part, and the discharge port at the bottom of the external hopper is located inside the glue storage part.

[0022] In an optional embodiment, the grouting mechanism includes a displacement adjustment mechanism and a grouting terminal. The grouting terminal is installed on the first moving chassis through the displacement adjustment mechanism;

[0023] The displacement adjustment mechanism includes an X-direction displacement module and a Z-direction displacement module; the X-direction displacement module is used to adjust the distance of the grouting terminal in the left-right direction of the grouting path, and the Z-direction displacement module is used to make the grouting terminal extend forward or retract towards the first moving chassis.

[0024] In an optional embodiment, the grouting mechanism further includes a second distance measurement unit and a deviation correction measurement unit; the second distance measurement unit is installed on the first moving chassis, the deviation correction measurement unit is installed on the first moving chassis, and both the second distance measurement unit and the deviation correction measurement unit are signal-connected to the main control unit; the second distance measurement unit is used to measure the distance between the grouting terminal and the wall in front of it, and the deviation correction measurement unit is used to detect the reference line on the side of the grouting terminal;

[0025] When laying the first brick against the front wall, the main control unit obtains the distance between the grouting terminal and the front wall through the second distance measurement unit, and controls the grouting terminal to extend forward through the Z-direction displacement module, so that the grouting terminal is close to the front wall to achieve wall-adjacent grouting; the main control unit also adjusts the X-direction displacement module to make the grouting terminal not deviate from the reference line detected by the deviation correction measurement unit.

[0026] In an optional embodiment, the brick laying mechanism of the brick laying robot further includes a third distance measurement unit; the third distance measurement unit is installed on the first moving chassis and is signal-connected to the main control unit, and the third distance measurement unit is used to measure the distance between the grouting mechanism and the side wall;

[0027] When laying bricks close to the door pier or against the side wall, the main control unit obtains the distance between the grouting terminal and the side wall through the third distance measurement unit, and controls the grouting terminal to extend towards the side wall through the X-direction displacement module, so that the grouting terminal is close to the side wall to achieve wall-adjacent grouting, and makes the first moving chassis away from the side wall or the door pier.

[0028] In an optional embodiment, the brick laying mechanism includes a robotic arm support frame, a robotic arm, and a grasping component; the robotic arm support frame is detachably installed on the first moving chassis; the robotic arm is installed on the robotic arm support frame, and the grasping component is installed on the robotic arm.

[0029] According to the second aspect of the embodiments of the present application, a multi-robot collaborative brick paving method is provided, including the following steps:

[0030] Control the paving robot to perform floor tile paving operations according to a predetermined operation path. Among them, the paving robot includes a first mobile chassis, as well as a brick bin and a brick paving mechanism arranged on the first mobile chassis;

[0031] Obtain the number of tiles to be paved in the brick bin;

[0032] Determine the brick taking position according to the operation path and the number of tiles to be paved in the brick bin;

[0033] Send the brick taking position to the brick feeding device, so that the brick feeding device obtains the brick feeding position according to the brick taking position and moves to the brick feeding position;

[0034] When the paving robot moves to the brick taking position, control it to take bricks from the brick placing platform of the brick feeding device.

[0035] In an optional embodiment, it further includes the following steps:

[0036] Control the paving robot to perform slurry paving according to a predetermined operation path. Among them, the paving robot further includes a slurry paving mechanism located on the first mobile chassis, and the slurry paving mechanism has a hopper;

[0037] Obtain the amount of slurry in the hopper;

[0038] Determine the slurry replenishment position according to the operation path and the amount of slurry;

[0039] Send the slurry replenishment position to the slurry feeding device;

[0040] When the paving robot moves to the slurry replenishment position, replenish the slurry through the slurry feeding device.

[0041] In the technical solution of the embodiments of the present application, both the paving robot and the brick feeding device are provided with mobile chassis, so as to facilitate the free movement of the paving robot to achieve brick paving and the free movement of the brick feeding device to achieve brick replenishment; moreover, the paving robot can pre-determine the brick taking position when the paving robot needs to replenish bricks according to the number of tiles to be paved in the brick bin and the operation path, thereby determining a suitable brick feeding position according to the brick taking position, and controlling the brick feeding device to automatically go to the brick feeding position in advance to wait for brick replenishment, so as to reduce the waiting time during the brick replenishment process, help the paving robot to quickly replenish bricks, and improve the paving efficiency.

[0042] Meanwhile, when the brick delivery device reaches the brick delivery position and the tiling robot reaches the brick picking position near the brick delivery device to prepare for brick replenishment, there is an approximate relative position between the brick delivery device and the tiling robot. At this time, the brick delivery device can automatically detect the relative position information between the brick delivery device and the tiling robot, and then adjust its own orientation according to the relative position information, so as to accurately revise the position error between the two, so that the brick delivery device is located at a better brick delivery position and improve the brick replenishment efficiency.

[0043] The tiling robot can also pre-determine the grout replenishment position when the tiling robot needs to replenish grout according to the amount of grout in the hopper of the grout spreading mechanism and the operation path, so as to determine a suitable grout delivery position according to the grout replenishment position, and control the grout delivery device to automatically go to the grout delivery position in advance to wait for grout replenishment, which can reduce the waiting time during the grout replenishment process, help the tiling robot to quickly replenish grout, and improve the tiling efficiency.

[0044] In addition, the grout spreading terminal is installed on the first mobile chassis through the X-direction displacement module and the Z-direction displacement module. The X-direction displacement module is used to adjust the distance of the grout spreading terminal in the left-right direction of the grout spreading path, and the Z-direction displacement module is used to make the grout spreading terminal extend forward or retract to the first mobile chassis. When moving forward, it can make the tiling robot close to the wall to achieve tiling as close to the wall as possible. When moving backward, it can reduce the floor area. The X-direction displacement module can extend to the left and right sides to prevent the fuselage from colliding with the surrounding walls or door piers, so that the grout spreading terminal can more flexibly adjust the posture of the tiling robot in scenarios such as wall-leaning tiling, internal and external corner tiling, and door pier tiling, which helps to improve the grout spreading quality and reduce the hollowing problem existing in conventional tiling.

[0045] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit this application.

[0046] For better understanding and implementation, the present application will be described in detail below with reference to the accompanying drawings. Brief Description of the Drawings

[0047] Figure 1 It is a schematic structural diagram of a multi-robot collaborative brick tiling system provided by an embodiment of the present application;

[0048] Figure 2 It is the first brick tiling schematic diagram of a multi-robot collaborative brick tiling system provided by an embodiment of the present application;

[0049] Figure 3 It is the second brick tiling schematic diagram of a multi-robot collaborative brick tiling system provided by an embodiment of the present application;

[0050] Figure 4 It is a schematic structural diagram of a tiling robot provided by an embodiment of the present application;

[0051] Figure 5Schematic structural diagram of the brick delivery device provided by an embodiment of the present application;

[0052] Figure 6 Schematic installation diagram of the mortar spreading unit provided by an embodiment of the present application;

[0053] Figure 7 Schematic overall structural diagram of the displacement adjustment mechanism provided by an embodiment of the present application;

[0054] Figure 8 Front view of the displacement adjustment mechanism provided by an embodiment of the present application;

[0055] Figure 9 Side view of the displacement adjustment mechanism provided by an embodiment of the present application;

[0056] Figure 10 Schematic installation diagram of adding slurry to the external hopper provided by an embodiment of the present application;

[0057] Figure 11 Schematic flow diagram of the multi - machine collaborative brick - pasting method provided by another embodiment of the present application.

[0058] Reference numerals in the drawings: 1000, multi - machine collaborative brick - pasting system; 100, brick - laying robot; 110, first mobile chassis; 120, main control unit; 130, brick bin; 140, brick - laying mechanism; 141, robotic arm support frame; 142, robotic arm; 143, grasping component; 150, mortar - spreading mechanism; 151, displacement adjustment mechanism; 1511, X - direction displacement module; 1512, Z - direction displacement module; 1513, Y - direction displacement module; 152, mortar - spreading terminal; 153, second distance - measuring unit; 154, slurry - pumping unit; 155, electric control cabinet; 156, glue storage part; 160, external hopper; 200, brick delivery device; 210, second mobile chassis; 220, brick - placing platform; 230, slave control unit; 240, first distance - measuring unit; 300, laser instrument; 2000, brick. Detailed implementation manners

[0059] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Usually, the components of the embodiments of the present application described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0060] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts fall within the scope of protection of the present application. Embodiment

[0061] In a first aspect of an embodiment of the present application, a multi - machine collaborative brick - laying system is provided.

[0062] As Figure 1 Figure 2 and Figure 3 shown, the multi - machine collaborative brick - laying system 1000 includes: a paving robot 100 and a brick - feeding device 200. The paving robot 100 and the brick - feeding device 200 can communicate with each other to achieve interaction. The paving robot 100 is used to perform floor - tile paving operations according to a predetermined operation path. The brick - feeding device 200 is used to load bricks in advance and move to the vicinity of the paving robot 100 under the control of the paving robot 100 to wait for the paving robot 100 to grab the bricks on it. The paving robot 100 and the brick - feeding device 200 cooperate with each other during the operation process to achieve brick loading and paving, thereby realizing fully automatic brick - laying. In this embodiment, the paving robot 100 can be an industrial robot dedicated to brick - laying, or can integrally implement mortar spreading and brick - laying.

[0063] As Figure 4 shown, the paving robot 100 includes a first mobile chassis 110, and a main control unit 120, a brick bin 130, and a brick - laying mechanism 140 provided on the first mobile chassis 110.

[0064] The first mobile chassis 110 is a bearing component, specifically, it can be a platform - type bearing component or a bearing component with a concave middle part. The first mobile chassis 110 is used to carry and drive the main control unit 120, the brick bin 130, and the brick - laying mechanism 140 thereon to move freely to achieve brick - laying. In this embodiment, the specific structure of the first mobile chassis 110 is not limited. Optionally, the first mobile chassis 110 can be an AGV cart, a crawler - type mobile chassis, a sliding - type mobile chassis, or other mobile chassis.

[0065] ​The main control unit 120, as the control mechanism of the tiling robot 100, is used to control each executing component of the tiling robot 100 to execute action responses, and is also used to communicate with the brick feeding device 200 to achieve the control of the brick feeding of the brick feeding device 200. In this embodiment, the specific form of the main control unit 120 is not limited. For example, the main control unit 120 can be an independent control chip or other computer industrial control devices. Among them, if the main control unit 120 is an independent control chip, it can be a single-chip microcomputer, an embedded control chip, a PLC controller, or other programmable logic control devices; the independent control chip can be installed on the main control board, and then installed on the first mobile chassis 110 through the main control board. The computer industrial control device can be an independently set industrial control device, which can be directly installed on the first mobile chassis 110; the computer industrial control device can be a small industrial control device such as a smart phone or a smart tablet.

[0066] The brick storage bin 130 is used to store the bricks to be tiled. It can be a horizontally arranged loading platform or a loading component with a concave middle part, on which a preset number and preset size of bricks to be tiled can be accommodated. The tiling robot 100 can take bricks from the brick storage bin 130 through the brick laying mechanism 140 thereon to achieve tiling.

[0067] The brick laying mechanism 140 is used to move to each station in the area to be tiled under the drive of the first mobile chassis 110 and automatically lay bricks.

[0068] Optionally, the tiling robot 100 can be an industrial robot for laying mortar and tiles. Therefore, the tiling robot 100 can also include a mortar laying mechanism 150 for laying mortar. The mortar laying mechanism 150 is arranged on the first mobile chassis 110 and can move to each station in the area to be tiled under the drive of the first mobile chassis 110 to automatically lay mortar.

[0069] As Figure 1 and 5 shown, the brick feeding device 200 includes a second mobile chassis 210, and a brick placing platform 220 and a first slave control unit 230 arranged on the second mobile chassis 210.

[0070] The second mobile chassis 210 is a bearing component, specifically it can be a platform-type bearing component or a bearing component with a concave middle part. The second mobile chassis 210 is used to carry and drive the brick placing platform 220 and the first slave control unit 230 thereon to move freely to achieve brick feeding. In this embodiment, the specific structure of the second mobile chassis 210 is not limited. Optionally, the second mobile chassis 210 can be an AGV cart, or a crawler-type movable chassis, or a sliding-type movable chassis, etc.

[0071] The brick placing platform 220 is used to load the bricks 2000 waiting for transfer. It can be a horizontally arranged loading platform or a loading component with a concave middle part, on which a preset number and preset size of bricks 2000 to be transferred can be accommodated.

[0072] The first slave control unit 230 serves as the control mechanism of the brick delivery device 200, and is used to control each execution component of the brick delivery device 200 to execute action responses. It is also used to communicate with the paving robot 100 to receive the brick delivery instruction issued by the paving robot 100. In this embodiment, the specific form of the first slave control unit 230 is not limited. Optionally, similar to the main control unit 120, the first slave control unit 230 can be an independent control chip or other computer industrial control devices. Among them, if the first slave control unit 230 is an independent control chip, it can be a single-chip microcomputer, an embedded control chip, a PLC controller, or other programmable logic control devices; the independent control chip can be installed on the slave control board, and then installed on the second mobile chassis 210 through the slave control board. The computer industrial control device can be an independently set industrial control device, which can be directly installed on the second mobile chassis 210; the computer industrial control device can be a small industrial control device such as a smart phone or a smart tablet.

[0073] In order to realize the replenishment brick information interaction between the paving robot 100 and the brick delivery device 200 during the brick paving process, and enable the paving robot 100 and the brick delivery device 200 to move independently and freely, the first slave control unit 230 and the main control unit 120 can be communicatively connected, and can be a wireless communication connection. Optionally, the wireless communication method can be mobile communication, WIFI communication, Bluetooth communication, 2.4G communication, or other wireless communication methods.

[0074] In this embodiment, the main control unit 120 serves as the control mechanism of the paving robot 100, and is used to control the paving robot 100 to perform floor tile paving operations according to a predetermined operation path, and obtain the number of bricks to be paved in the brick silo 130; the main control unit 120 is also used to determine the brick taking position according to the operation path and the number of bricks to be paved in the brick silo 130, and send the brick taking position to the first slave control unit 230. Among them, the brick taking position is the position where the paving robot 100 can take bricks from the brick delivery device 200. Preferably, it is the working position on the paving path. More preferably, it is the working position of the paving robot on the paving path when it is calculated that the brick silo needs to be replenished with bricks. And when to replenish bricks can be set in advance, for example, set that the number of bricks in the brick silo is 0, or set that the number of bricks in the brick silo is other preset numbers.

[0075] In an optional example, a scanning unit (not shown in the figure) for collecting scene information of the paving area is provided on the first moving chassis 110 of the paving robot 100. The scanning unit (not shown in the figure) is communicatively connected to the main control unit 120, specifically, it can be a wired or wireless communication connection.

[0076] In this embodiment, the method for obtaining the predetermined operation path of the paving robot 100 can be as follows: Before the paving operation, the paving robot 100 controls the first moving chassis 110 to move to the paving area, and controls the scanning unit (not shown in the figure) to perform a full-scene scan of the paving area and generate a tile-laying map; the main control unit 120 plans the paving path according to the tile-laying map and the preset size of the tiles 2000 to determine a suitable operation path. For example, the paving area is determined according to the tile-laying map, a paving guidance map is generated according to the paving area, the preset tile size, and the brick-laying direction, and the operation path is determined by combining the volume of the paving robot 100 and the surrounding walls in the paving guidance map.

[0077] It should be noted that the preset operation path needs to meet at least one of the following conditions: First, the operation path can facilitate the free movement of the paving robot 100 during the process of paving floor tiles to avoid the already paved tiles 2000 and the surrounding walls; Second, the paving scheme corresponding to the operation path can save tiles as much as possible, reduce tile cutting, and reduce tile waste.

[0078] The method for obtaining the number of tiles to be paved in the brick magazine 130 can be as follows: The distance sensor provided on the paving robot 100 detects the height of the bricks stacked in the brick magazine130, and then the distance sensor sends the height data to the main control unit 120. The main control unit 120 determines the number of remaining tiles to be paved in the brick magazine by combining the preset thickness of a single tile with the current height of the brick stack. In other embodiments, other methods can also be used to obtain the number of tiles to be paved in the brick magazine 130. For example, a weight sensor is provided under the brick magazine, the total weight of the tiles to be paved is measured by the weight sensor, and then the main control unit 120 combines the weight of a single tile to determine the number of tiles to be paved, or a vision sensor is set up for detection, etc.

[0079] The first slave control unit 230 is used to obtain the tile delivery position according to the tile picking position; the first slave control unit 230 is also used to control the second moving chassis 210 to drive the tile delivery device 200 to move to the tile delivery position, so that when the paving robot 100 moves to the tile picking position, it can pick up tiles from the tile placing platform 220 and perform floor tile paving operations.

[0080] Among them, the brick delivery position can be determined according to a method that facilitates the paving robot to grab floor tiles from the brick delivery device and perform floor tile paving operations. For example, the brick delivery position is beside the brick taking position in the left and right directions of the operation path and is separated by a set distance to avoid collisions. Preferably, the brick delivery position is located in the unfinished paving area to avoid affecting the paved area.

[0081] In this embodiment, the main control unit 120 sends the brick taking position to the first slave control unit 230 in advance to inform the brick delivery device 200 of the brick taking location in advance, so that the brick delivery device 200 can pre-determine the brick delivery position, load bricks in advance and send them to the brick delivery position, thereby reducing the waiting time during brick replenishment, enabling the paving robot 100 to operate continuously, and accelerating the brick paving efficiency.

[0082] In other embodiments, the main control unit 120 of the floor tile paving robot 100 can directly determine the brick delivery position according to the brick paving map and the brick taking position, and then send the brick paving map and the brick delivery position to the brick delivery device 200, or directly mark the brick delivery position on the brick paving map and then send it to the brick delivery device 200, thereby reducing the computing amount of the brick delivery device 200, being beneficial to reducing the hardware requirements of the first slave control unit 230 of the brick delivery device 200, and reducing the equipment cost.

[0083] In the traditional technology, the paving robots used for floor tile paving in building construction usually only have a single brick paving function or mortar spreading function, and the degree of automation is relatively low. In the embodiment of the present application, the paving robot 100 can pre-determine the brick taking position when the paving robot 100 needs to replenish bricks according to the number of floor tiles to be paved in the brick bin 130 and the operation path, and send the brick taking position to the brick delivery device 200, so that the brick delivery device 200 can determine the brick delivery position according to the brick taking position, that is, pre-determine the brick replenishment location, and then automatically go to the brick delivery position in advance to wait for the paving robot 100 to arrive and take bricks after the brick loading is completed, thereby reducing the transportation time during the brick replenishment process, that is, reducing the waiting time of the paving robot 100 for brick replenishment, helping the paving robot 100 to quickly replenish bricks, and improving the paving efficiency.

[0084] In an optional embodiment, the brick taking position is the working position where the paving robot 100 is located on the operation path when the number of floor tiles to be paved in the brick bin 130 is lower than the preset number of bricks; the working position is each station on the operation path when the paving robot 100 lays bricks each time, and one brick paving operation can be performed at each station, and the center distance between each station is the length or width of the brick 2000.

[0085] Specifically, in this embodiment, the specific value of the preset number of bricks is not limited and can be determined by the inventor according to actual needs. When the preset number of bricks is 1, the brick-taking position is the working position of the paving robot 100 on the operation path when the bricks to be paved in the brick silo 130 are completely paved; when the preset number of bricks is greater than 1, the brick-taking position is the working position of the paving robot 100 on the operation path when the bricks to be paved in the brick silo 130 are not completely paved.

[0086] Optionally, obtaining the brick delivery position according to the brick-taking position includes: determining the brick delivery position in the unpaved area according to the brick-taking position and the first preset distance value.

[0087] In a preferred embodiment, as Figure 2 shown, the brick-taking position can be the position where the paving robot 100 is located when the bricks to be paved in the brick silo 130 are just completely paved, that is, the brick-taking position is Figure 2 the A4 area shown. At this time, the brick-taking position can be determined by the following method. The main control unit 120 can determine the available paving length when the bricks 2000 in the brick silo 130 are completely paved according to the number of bricks to be paved in the brick silo 130, the preset brick size, and the brick laying direction, and determine the corresponding brick-taking position on the operation path in combination with the available paving length.

[0088] In an alternative embodiment, as Figure 3 shown, the brick-taking position can also be a preset position when the paving robot 100 continues to move and is ready to lay bricks again after the bricks to be paved in the brick silo 130 are completely paved, that is, the brick-taking position is Figure 3 the B4 area shown. At this time, the brick-taking position can be determined by the following method. After the main control unit 120 determines the available paving length when the bricks 2000 in the brick silo 130 are completely paved according to the number of bricks to be paved in the brick silo 130, the preset brick size, and the brick laying direction, and determines the arrival position of the paving robot 100 on the operation path in combination with the available paving length, a certain moving distance is added to the arrival position to obtain the brick-taking position.

[0089] In another alternative embodiment, as Figure 2 shown, if the paving robot 100 moves to the A4 area, at this time the bricks to be paved in the brick silo 130 are not completely paved, but the number of bricks to be paved in the brick silo 130 has fallen below the preset number of bricks, then the brick-taking position can also be Figure 2The A4 area shown. At this time, the brick-taking position can be determined in the following manner. When the main control unit 120 determines the available brick-laying length when the bricks 2000 in the brick silo 130 are completely laid according to the number of bricks to be laid in the brick silo 130, the preset brick size, and the brick-laying direction, it determines the reachable designated position of the brick-laying robot 100 in combination with the available brick-laying length on the operation path, and determines the brick-taking position by moving a certain distance forward based on the designated position. The main control unit 120 sends the brick-taking position to the first slave control unit 230 and notifies the first slave control unit 230 to replenish bricks, so that the brick delivery device 200 can plan the brick replenishment path according to the brick-taking position and the tile-laying map it obtains. In a more preferred embodiment, the way for the brick delivery device 200 to obtain the tile-laying map can be: when the main control unit 120 sends the brick-taking position to the first slave control unit 230, the tile-laying map is synchronously sent to the brick delivery device 200. In other embodiments, a dedicated scanning unit can also be provided on the brick delivery device 200. After comprehensively collecting the scene information of the same tiling area through this dedicated scanning unit, a dedicated tile-laying map is automatically generated. This dedicated tile-laying map is Figure 1 consistent with that generated by the main control unit 120 scanning, so that the brick delivery device 200 can obtain a reasonable brick replenishment path and reduce the brick replenishment error.

[0090] To determine a more appropriate brick replenishment location, the first preset distance value is the distance value between the brick-laying robot 100 and the brick delivery device 200 when the brick-laying robot 100 can take bricks from the brick delivery device 200 and can take bricks more conveniently. The brick delivery position is a position in the current non-tiled area that the brick delivery device 200 needs to go to and is convenient for the brick-laying robot 100 to take bricks.

[0091] Combined with the attached drawings, as Figure 1 、 Figure 2 and Figure 3As shown, the relative positional relationship between the brick-taking position and the brick-delivering position should not be too far or too close. If the relative positional relationship between the brick-taking position and the brick-delivering position is too far, the paving robot 100 cannot directly take bricks from the brick-delivering device 200, and the brick-delivering device 200 needs to adjust the distance from the paving robot 100 again so that the paving robot 100 can directly take bricks from its brick-releasing platform 220. During the process of the paving robot 100 taking bricks, it is necessary to control the robotic arm 142 to drive the grasping component 143 to rotate within a certain range to take and release bricks. If the relative positional relationship between the brick-taking position and the brick-delivering position is too close, it may hinder the rotation of the robotic arm 142, making it inconvenient for the paving robot 100 to take bricks flexibly through the robotic arm 142. Therefore, the relative positional relationship between the brick-taking position and the brick-delivering position can be: a relatively appropriate relative positional relationship between the brick-delivering device 200 and the paving robot 100 determined according to the actual brick-supplying requirements. For example, the brick-delivering device 200 is on the side or behind the paving direction of the paving robot 100, and there is a first preset distance value between it and the paving robot 100. Preferably, the relative positional relationship is that the brick-delivering device 200 is at the first preset distance value on the side of the paving direction of the paving robot 100 to avoid collision between the paving robot 100 and the brick-delivering device 200.

[0092] Preferably, as Figure 2 shown, the paving robot 100 paves from front to back. When the paving robot 100 reaches the A4 area, the bricks 2000 in its brick magazine 130 are just paved, that is, the bricks 2000 in the brick magazine 130 are only enough to pave up to the A3 area. If the brick-taking position is the A4 area, then according to the first preset distance, the brick-delivering position can be determined as the B4 area, A5 area, or B5 area in the unpaved area. In addition, when the paving robot 100 reaches the A4 area, the bricks 2000 in its brick magazine 130 are not completely paved, but the number of bricks has fallen below the preset number of bricks. If the brick-taking position is determined as the A4 area, then according to the first preset distance, the brick-delivering position can be determined as the B4 area, A5 area, or B5 area in the unpaved area.

[0093] Preferably, as Figure 3 shown, for example, when the paving robot 100 reaches the B3 area, the bricks 2000 in its brick magazine 130 are just paved, that is, the bricks 2000 in the brick magazine 130 are only enough to pave the B2 area, and the paving robot 100 is located in the B3 area. However, at this time, the paving robot 100 continues to move backward to the B4 area to prepare for paving again. At this time, if the brick-taking position is the B4 area, then according to the first preset distance, the brick-delivering position can be determined as the C4 area, C5 area, or B5 area in the unpaved area.

[0094] After the first slave control unit 230 determines the brick delivery position on the brick-laying map, the first slave control unit 230 controls the second mobile chassis 210 to move to the brick delivery position, so that when the brick-laying robot 100 reaches the brick-taking position, it can take bricks from the brick-loading platform 220.

[0095] In a more preferred embodiment, the multi-robot collaborative brick-laying system further includes a grout delivery device (not shown in the figure). The grout delivery device includes a third mobile chassis, a grout replenishment unit and a second slave control unit provided on the third mobile chassis. The second slave control unit is communicatively connected to the main control unit 120 to implement grout delivery information interaction between the brick-laying robot 100 and the grout delivery device. Among them, the grout delivery information may include grout delivery instructions, brick-laying maps, grout replenishment positions and other information.

[0096] The brick-laying robot 100 further includes a grout spreading mechanism 150 located on the first mobile chassis 110. The grout spreading mechanism 150 has a hopper, and the hopper can be a non-removable hopper fixedly provided on the grout spreading mechanism 150, or a detachable external hopper 160 movably installed on the grout spreading mechanism 150.

[0097] The main control unit 120 is further configured to control the brick-laying robot 100 to perform grout spreading according to a predetermined operation path and obtain the amount of grout in the hopper; the main control unit 120 is further configured to determine the grout replenishment position according to the operation path and the amount of grout and send the grout replenishment position to the second slave control unit.

[0098] Among them, the brick-laying robot 100 has a grout detection mechanism, and the grout amount in the hopper on it is detected by the grout detection mechanism to obtain the grout amount in the hopper.

[0099] Among them, the grout replenishment position can be a certain position in the unpaved area on the operation path where the brick-laying robot is located when the grout in the hopper has not been completely laid or has been completely laid, or a certain position in the unpaved area on the operation path when the brick-laying robot continues to move backward after the grout in the hopper has been completely laid and is ready to lay the grout again.

[0100] The method for determining the grout replenishment position according to the operation path and the amount of grout can be: determining the actual number of bricks that can be laid according to the amount of grout in the hopper and the grout demand for laying each brick, and then combining the number of bricks that can be laid with the operation path to determine the grout replenishment position.

[0101] The second slave control unit is used to obtain the grout delivery position according to the grout replenishment position. Specifically, the second slave control unit can determine a more suitable grout delivery position for grout replenishment on the unpaved area according to the grout replenishment position, preset orientation information and preset distance information.

[0102] Optionally, the second slave control unit is further configured to control the third moving chassis to drive the slurry feeding device to move to the sizing position for sizing. After sizing is completed, the second slave control unit is further configured to control the third moving chassis to drive the slurry feeding device to move to the slurry feeding position in advance, so that when the tiling robot 100 moves to the slurry replenishing position, slurry replenishment can be performed through the slurry replenishing unit.

[0103] Optionally, similar to the first moving chassis 110 and the second moving chassis 210, the third moving chassis of the slurry feeding device can be an AGV cart, or a crawler-type movable chassis, or a sliding-type movable chassis, etc. movable chassis. In the traditional technology, the hopper on the tiling robot 100 is generally fixedly installed, which will cause problems such as a large overall volume and inconvenience in handling. To solve this problem, as Figure 1 and Figure 4 shown, in a preferred embodiment, a detachable external hopper 160 is provided on the mortar spreading mechanism 150, and the external hopper 160 is used to load slurries such as tile adhesive. As Figure 10 shown, the external hopper 160 is detachably installed on the first moving chassis 110, and the outlet of the external hopper 160 is in communication with the inlet of the mortar spreading mechanism 150.

[0104] A bracket for placing the detachable external hopper 160 is provided on the slurry feeding device. During slurry replenishment, the slurry feeding device can reach the slurry feeding position in advance. When the tiling robot 100 reaches the slurry replenishing position, the operator removes the external hopper 160 to be replaced on the tiling robot 100, and then translates the external hopper 160 full of slurry on the slurry feeding device to the tiling robot 100 for installation, thus realizing rapid slurry replenishment, reducing the waiting time for sizing, and enabling the tiling robot 100 to resume operation faster, which helps to improve the efficiency of mortar spreading and tile laying.

[0105] Optionally, the external hopper can be detachably installed on the first moving chassis 110 by installation methods such as fastening connection, abutting, and supporting placement.

[0106] In other examples, an external slurry pumping mechanism can also be provided on the slurry feeding device, and the external slurry pumping mechanism can pump the slurry into the hopper of the mortar spreading mechanism 150 to achieve slurry replenishment.

[0107] In a preferred embodiment, the main control unit 120 is further configured to obtain the slurry loading amount in the external hopper 160. When the obtained slurry loading amount is lower than the preset slurry surplus, the slurry replenishing position where the tiling robot 100 is located when it is determined that the external hopper 160 needs to be replaced is determined according to the operation path, and the slurry replenishing position is notified to the outside for timely slurry replenishment.

[0108] Among them, the preset slurry surplus can be the slurry surplus when the slurry drops to near the bottom of the external hopper or other preset slurry surplus.

[0109] In the specific implementation manner, the slurry detection mechanism can be a slurry detection unit such as a distance sensor. The main control unit 120 can detect the height of the slurry in the external hopper 160 through the slurry detection unit such as the distance sensor, so as to obtain the slurry loading amount in the external hopper 160. The paving robot 100 can also be provided with an interaction module such as a horn or a display screen, and notify the external of the slurry replenishment position through the interaction module. The paving robot 100 notifies the external of the slurry replenishment position, so that the operating personnel can fill the spare external hopper 160 with slurry in advance, so as to control the slurry feeding device to transport the external hopper filled with slurry to the slurry feeding position in advance, so as to reduce the waiting time during slurry replenishment, so that the paving robot can quickly resume operation and improve the efficiency of slurry paving and brick laying.

[0110] In a preferred embodiment, as Figure 6 shown, a sunken installation position is provided in the middle of the first moving chassis 110, and the sunken installation position is matched with the slurry pumping unit 154 of the slurry paving mechanism 150; the slurry pumping unit 154 is detachably installed in the sunken installation position, so as to save the installation space of the slurry pumping unit 154, and further reduce the overall volume of the paving robot 100, so as to make the paving robot 100 smaller and lighter.

[0111] As Figure 6 shown, an electric control cabinet 155 is further provided on the first moving chassis 110. A brick bin 130 is provided on the top of the electric control cabinet 155. The middle of the electric control cabinet 155 is hollowed out to form a glue storage part 156 of the slurry pumping unit 154. The external hopper 160 is detachably installed above the glue storage part 156. Preferably, the slurry paving terminal of the slurry paving mechanism 150 is located at the front end of the first moving chassis 110, then the external hopper is detachably installed at the rear end of the slurry paving mechanism 150 and is located at the rear end of the glue storage part. The discharge port at the bottom of the external hopper 160 extends into the glue storage part 156, so that the overall structure of the paving robot 100 is more compact and the volume is smaller. Among them, the glue storage part can be understood as a slurry storage bin carried by the slurry pumping unit 154 itself, which stores the slurry therein for pumping to the slurry paving terminal for slurry paving.

[0112] In other examples, the slurry paving mechanism 150 can also adopt other slurry feeding units other than the slurry pumping unit 154, and this embodiment is not limited.

[0113] In the embodiment of the present application, the hopper of the slurry paving mechanism mentioned in the foregoing embodiment can be the external hopper 160 mentioned in the subsequent embodiment, or the glue storage part of the slurry pumping unit 154.

[0114] In one embodiment, as Figure 1 and Figure 4As shown, the brick laying mechanism 140 includes a robotic arm support frame 141, a robotic arm 142, and a grasping component 143. The robotic arm support frame 141 is detachably mounted on the first mobile chassis 110, specifically, it can be mounted on the electrical control cabinet 155; the robotic arm 142 is mounted on the robotic arm support frame 141, and the grasping component 143 is mounted on the robotic arm 142. Compared with the traditional technology where the robotic arm is fixedly and integrally mounted on the first mobile chassis 110, in some narrow aisles or stairwells, it may be inconvenient to transport due to the relatively large volume of the whole machine. In the embodiment of the present application, the robotic arm support frame 141 is designed to be detachably mounted. When transporting, the robotic arm support frame 141, the robotic arm 142, and the grasping component 143 can be disassembled into components together, and then assembled after reaching the designated location, thereby improving the adaptability of the paving robot 100 to the application environment. Optionally, if the robotic arm 142 is detachably mounted and the grasping component 143 is detachably mounted, the paving robot 100 can be disassembled into smaller components, improving adaptability and facilitating replacement when a component is damaged.

[0115] As Figure 7 , Figure 8 and Figure 9 shown, in an embodiment, the mortar spreading mechanism 150 includes a displacement adjustment mechanism 151 and a mortar spreading terminal 152. The mortar spreading terminal 152 is mounted on the first mobile chassis 110 through the displacement adjustment mechanism 151; the displacement adjustment mechanism 151 includes an X-direction displacement module 1511, a Z-direction displacement module 1512, and a Y-direction displacement module 1513. Among them, the X-direction displacement module 1511 is used to adjust the distance of the mortar spreading terminal 152 in the left-right direction of the mortar spreading path, the Z-direction displacement module 1512 is used to make the mortar spreading terminal 152 extend forward or retract towards the first mobile chassis 110; the Y-direction displacement module 1513 is used to adjust the mortar spreading height of the mortar spreading terminal 152.

[0116] In this embodiment, the installation method of the X-direction displacement module 1511, the Z-direction displacement module 1512, and the Y-direction displacement module 1513 in the displacement adjustment mechanism 151 and the mutual positional relationship among the three are not limited. Optionally, as Figure 7As shown, a grout spreading terminal 152 is installed on the Y-direction displacement module 1513. When the Y-direction displacement module 1513 operates, it can adjust the height of the grout spreading terminal 152, thereby adjusting the grout spreading height. The Y-direction displacement module 1513 is installed on the X-direction displacement module 1511 and can move left and right along the grout spreading direction under the drive of the X-direction displacement module 1511, so that the grout spreading terminal 152 is closer to the side wall. The X-direction displacement module 1511 is installed on the Z-direction displacement module 1512 and can extend forward or retract backward along the Z-direction under the drive of the Z-direction displacement module 1512, thereby driving the Y-direction displacement module 1513 and the grout spreading terminal 152 thereon to extend forward or retract backward along the Z-direction. The Z-direction displacement module 1512 is installed on the first moving chassis 110. The positional relationship among the X-direction displacement module 1511, the Z-direction displacement module 1512, and the Y-direction displacement module 1513, as well as the linkage relationship among the three and the grout spreading terminal 152, make the adjustment of the grout spreading terminal 152 more flexible in each direction, so that the grout spreading terminal 152 can more flexibly adjust the grout spreading position in scenarios such as wall tiling against the wall, corner tiling, and door pier tiling, which helps to improve the grout spreading quality and reduce the hollowing problems existing in conventional tiling.

[0117] In a specific tiling scenario, when there is a wall directly in front of the grout spreading terminal 152, the Z-direction displacement module 1512 can drive the X-direction displacement module 1511 thereon, the Y-direction displacement module 1513 on the X-direction displacement module 1511, and the grout spreading terminal 152 on the Y-direction displacement module 1513 to move forward towards the front wall to approach the front wall, so as to adjust the grout discharging position to prevent hollowing caused by lack of grout and materials on the front side. The Z-direction displacement module 1512 can also drive the grout spreading terminal 152 to move backward away from the front wall and retract towards the first moving chassis 110, thereby reducing the overall volume of the machine and facilitating flexible transfer and turning.

[0118] Optionally, the Z-direction displacement module 1512 includes a track installed on the first moving chassis 110 and a sliding groove that cooperates and engages with the track. The X-direction displacement module 1511 is installed on the sliding groove. When controlling the sliding groove to slide forward and backward on the track, it can drive the X-direction displacement module 1511 to move forward or backward, thereby driving the Y-direction displacement module 1513 and the grout spreading terminal 152 to move forward towards the front wall to approach the front wall or move backward to move away from the front wall. Optionally, the X-direction displacement module 1511 includes a connecting part installed on the sliding groove and a crawler installed on the connecting part. The Y-direction displacement module 1513 is installed on the crawler. By controlling the crawler to move left and right along the X-direction, it can drive the Y-direction displacement module 1513 and the grout spreading terminal 152 to move horizontally along the left and right sides of the grout spreading terminal 152, so that the grout discharging position of the grout spreading terminal 152 is closer to the side wall, preventing hollowing caused by lack of grout and materials on both sides.

[0119] To ensure that the left and right ends of the mortar spreading terminal 152 are at the same height, the Y-direction displacement module 1513 includes a first height adjustment unit and a second height adjustment unit disposed along the left and right sides of the mortar spreading terminal 152. The first height adjustment unit and the second height adjustment unit can adjust their heights independently, so that the mortar spreading terminal 152 remains balanced in the uneven tiling area to be tiled, which is conducive to laying mortar with a consistent height. For example, when the mortar spreading terminal 152 tilts to the left or right due to the unevenness of the tiling area to be tiled, the first height adjustment unit or the second height adjustment unit of the Y-direction displacement module 1513 can raise the lower side of the mortar spreading terminal 152 to keep the left and right heights of the mortar spreading terminal 152 always level, which helps the mortar spreading terminal 152 to lay relatively flat mortar on the uneven ground, thus preventing the problem of hollowing when laying bricks.

[0120] In the traditional technology, a laser instrument is set in front of the mortar spreading terminal, close to the front wall, and a reference line is drawn by the laser instrument. When spreading mortar, the mortar is spread according to the reference line. However, since the laser instrument is set directly in front of the mortar spreading terminal, when tiling against the wall directly in front, the mortar cannot be laid on the wall, resulting in a lack of mortar at the root of the front wall, and it is easy to have the problem of hollowing when laying bricks. In response to this problem, the present application proposes a corresponding solution, and the specific implementation method is as follows.

[0121] As Figure 3 shown, in this embodiment, the bricklaying system further includes a laser instrument 300 disposed on the side of the bricklaying robot 100, and controls the external laser instrument 300 to draw a reference line in the bricklaying direction according to the operation path. For example, the laser instrument 300 is located at the unpaved areas C1, C2, C3, C4 or C5 on the side of the bricklaying robot 100, and draws a reference line L1. When spreading mortar, the bricklaying robot 100 spreads mortar referring to L1, so that the mortar outlet position of the mortar spreading terminal 152 is closer to the front wall, preventing the lack of mortar at the root of the front wall from causing hollowing.

[0122] As Figure 3 shown, the mortar spreading mechanism 150 further includes a second distance measuring unit 153 and a deviation correction measuring unit (not shown). The second distance measuring unit 153 is installed on the first moving chassis 110, the deviation correction measuring unit is installed on the first moving chassis 110, and both the second distance measuring unit 153 and the deviation correction measuring unit are signal-connected to the main control unit 120 to realize the interaction of control detection information.

[0123] Among them, the second distance measuring unit 153 can be a vision sensor or a distance sensor.

[0124] In a preferred embodiment, the second distance measuring unit 153 and the deviation correction measuring unit are installed on the mortar spreading terminal 152 of the first mobile chassis 110. In other embodiments, the second distance measuring unit 153 and the deviation correction measuring unit can also be installed at other positions of the tiling robot 100. For example, they can be installed on the grasping component 143.

[0125] The second distance measuring unit 153 is used to measure the distance between the mortar spreading terminal 152 and the wall in front of it; the deviation correction measuring unit is used to detect the reference line L1 on the side of the mortar spreading terminal 152.

[0126] When tiling the first brick against the front wall, the main control unit 120 obtains the distance between the mortar spreading terminal 152 and the front wall through the second distance measuring unit 153, and controls the mortar spreading terminal 152 to extend forward through the Z-direction displacement module 1512, so that the mortar spreading terminal 152 is close to the front wall to achieve mortar spreading against the wall; the main control unit 120 also adjusts the X-direction displacement module 1511 to enable the deviation correction measuring unit to detect the reference line L1 on the side of the mortar spreading terminal 152, and ensure that the mortar spreading terminal 152 does not deviate from the reference line detected by the deviation correction measuring unit, so that the mortar spreading terminal 152 is close to the side wall to achieve mortar spreading against the wall, and at the same time ensure that the body will not collide with the side wall.

[0127] In an optional embodiment, the tiling robot 100 further includes a third distance measuring unit; the third distance measuring unit is installed on the first mobile chassis 110 or at other positions of the tiling robot, and is signal-connected to the main control unit 120. The third distance measuring unit is used to measure the distance between the mortar spreading mechanism 152 and its sides, that is, the walls on the left and right sides of the mortar spreading direction; when tiling close to a door jamb or against the side wall, the main control unit 120 obtains the distance between the mortar spreading terminal 152 and the side wall through the third distance measuring unit, and controls the mortar spreading terminal 152 to extend towards the side wall through the X-direction displacement module 1511, so that the mortar spreading terminal 152 is close to the side wall to achieve mortar spreading against the wall, and at the same time ensure that the body will not collide with the side wall, and make the first mobile chassis 110 move away from the side wall or door jamb to achieve flexible turning or transfer and thus flexible mortar spreading.

[0128] Among them, the third distance measuring unit can be a vision sensor or two distance sensors.

[0129] In this embodiment, compared with the traditional technology, the laser instrument is placed on the side of the tiling robot 100, that is, the laser instrument 300 is placed separately and a reference line is projected in the distance. The deviation correction measurement unit is used to detect the side reference line, so that the grouting terminal 152 is closer to the front wall, reducing the distance between the grouting terminal 152 and the front wall, thereby preventing lack of grout and materials at the front side during the grouting process. Moreover, under the boosting effect of the Z-direction displacement module 1512 driving the grouting terminal 152 to finely adjust forward along the Z direction, the grouting terminal 152 can be closer to the front wall, and the grout can be introduced to the edge of the wall root, further preventing hollowing caused by lack of grout at the front side.

[0130] In the embodiment of the present application, not only can the grouting terminal be extended forward along the Z direction through the Z-direction displacement module 1512 to better achieve wall-adjacent tiling when tiling against the wall on the front side, but also when tiling normally or in a narrow area, the Z-direction displacement module 1512 can be retracted as much as possible to reduce the floor area occupied by the tiling robot 100, making the turning or transfer of the tiling robot 100 more flexible. When approaching the door pier / tiling against the side wall, the grouting terminal extends along the X direction through the X-direction displacement module 1511, so that the grouting terminal is against the wall and the body of the tiling robot 110 is away from the wall, avoiding the body hitting the wall, so as to achieve flexible operation in a narrow working area.

[0131] In order to have a better brick-taking orientation between the brick placing platform 220 and the tiling robot 100, it is also necessary to control the brick delivery device 200 to finely adjust its own orientation to adjust the relative position relationship between the brick placing platform 220 and the brick bin 130 of the tiling robot 100.

[0132] In a preferred embodiment, as Figure 5 shown, a first distance measurement unit 240 is provided on the brick delivery device 200; when the second mobile chassis 210 moves to the brick delivery position and the tiling robot 100 reaches the brick-taking position, the first distance measurement unit 240 is used to measure the relative position information between the brick delivery device 200 and the tiling robot 100; wherein, the relative position information at least includes the orientation information and the position distance information between the brick delivery device 200 and the tiling robot 100.

[0133] The first slave control unit 230 is used to accurately adjust the position of the second mobile chassis 210 according to the relative position information, so that the brick delivery device 200 and the tiling robot 100 meet the preset position relationship, so as to be able to take bricks safely and accurately.

[0134] Optionally, the first distance measurement unit 240 may be a vision sensor disposed on the brick delivery device 200, and the vision sensor is used to detect the relative position information between the brick delivery device 200 and the tile laying robot. In other embodiments, the first distance measurement unit 240 may include two distance sensors disposed at both ends of the side of the brick delivery device 200.

[0135] In an optional embodiment, the first distance measurement unit 240 may also be used to measure the relative position information between the brick placing platform 220 of the brick delivery device 200 and the brick bin 130 of the tile laying robot 100. The brick delivery device 200 adjusts the orientation between the brick delivery device 200 and the tile laying robot 100 according to the relative position information, which helps to reduce the moving distance of the bricks and reduce the probability of accidental dropping during the brick transfer process. In addition, since the brick placing platform 220 is disposed on the second moving chassis 210 and the brick bin 130 is disposed on the first moving chassis 110, the relative position information between the second moving chassis 210 and the first moving chassis 110 may also be measured by the first distance measurement unit 240, and then the orientation between the brick delivery device 200 and the tile laying robot 100 is adjusted according to the relative position information.

[0136] In the technical solutions of the above embodiments of the present application, both the tile laying robot 100 and the brick delivery device 200 are provided with moving chassis, so that the tile laying robot 100 can move freely to lay bricks, and the brick delivery device 200 can move freely to replenish bricks; and, the tile laying robot 100 can pre-determine the brick taking position when the tile laying robot needs to replenish bricks according to the number of tiles to be laid in the brick bin 130 and the operation path, and then determine a suitable brick delivery position according to the brick taking position, and control the brick delivery device 200 to automatically go to the brick taking position in advance to wait for brick replenishment, thereby reducing the transportation time during the brick replenishment process, helping the tile laying robot 100 to quickly replenish bricks, and improving the tile laying efficiency.

[0137] At the same time, when the brick delivery device 200 arrives at the brick taking position and the tile laying robot 100 arrives at the brick taking position near the brick delivery device 200 to prepare for brick replenishment, there is a general relative position between the brick delivery device 200 and the tile laying robot 100. At this time, the brick delivery device 200 can automatically detect the relative position information between the brick delivery device 200 and the tile laying robot 100, and then adjust its own orientation according to the relative position information to revise the position error between the two, so that the brick delivery device 200 is located at a better brick taking position and improves the brick replenishment efficiency.

[0138] In addition, the grouting terminal 152 is installed on the first mobile chassis 110 through the Y-direction displacement module 1513, the X-direction displacement module 1511, and the Z-direction displacement module 1512. The X-direction displacement module 1511 is used to adjust the distance of the grouting terminal 152 in the left-right direction of the grouting path. The Z-direction displacement module 1512 is used to extend the grouting terminal 152 forward or retract it to the first mobile chassis 110. When moving forward, the tiling robot can be close to the wall to achieve tiling as close to the wall as possible. When moving backward, the floor area can be reduced to prevent the body from colliding with the surrounding walls or door piers. As a result, the grouting terminal 152 can more flexibly adjust the grouting position in scenarios such as wall tiling, internal and external corner tiling, and door pier tiling, which helps improve the grouting quality and reduce the hollowing problems existing in conventional tiling.

[0139] In the second aspect of the embodiments of the present application, a multi-robot collaborative bricklaying method is disclosed, which is applied to the multi-robot collaborative bricklaying system in the above embodiments.

[0140] As Figure 11 shown, the multi-robot collaborative bricklaying method includes the following steps:

[0141] S1: Control the tiling robot to perform floor tile tiling operations according to a predetermined operation path. Among them, the tiling robot includes a first mobile chassis, a brick bin, and a bricklaying mechanism arranged on the first mobile chassis;

[0142] S2: Obtain the number of tiles to be tiled in the brick bin;

[0143] S3: Determine the brick-taking position according to the operation path and the number of tiles to be tiled in the brick bin;

[0144] S4: Send the brick-taking position to the brick delivery device so that the brick delivery device can obtain the brick delivery position according to the brick-taking position and move to the brick delivery position;

[0145] S5: When the tiling robot moves to the brick-taking position, control it to take bricks from the brick placement platform of the brick delivery device.

[0146] In the embodiments of the present application, the tiling robot 100 can pre-determine the position of the tiling robot 100 when the tiles to be tiled are completed or not completed according to the number of tiles to be tiled in the brick bin 130 and the operation path, and determine the brick-taking position. Thus, a more suitable brick delivery position can be determined in the non-tiled area according to the brick-taking position, and the brick delivery device 200 can be controlled to automatically go to the brick-taking position in advance to wait for brick replenishment, which can reduce the waiting time during the brick replenishment process, help the tiling robot 100 quickly replenish bricks, and improve the tiling efficiency.

[0147] In a preferred embodiment, the tiling robot further includes a grouting mechanism located on the first mobile chassis, and the grouting mechanism has a hopper; the multi-robot collaborative bricklaying method further includes the following steps:

[0148] Control the paving robot to perform slurry paving according to a predetermined operation path, and obtain the amount of slurry in the hopper;

[0149] Determine the slurry replenishment position according to the operation path and the amount of slurry;

[0150] Send the slurry replenishment position to the slurry feeding device;

[0151] When the paving robot moves to the slurry replenishment position, replenish the slurry through the slurry feeding device.

[0152] In a preferred embodiment, the brick taking position is the working position where the paving robot is located on the operation path when the number of bricks to be paved in the brick silo is zero.

[0153] In a preferred embodiment, as Figure 5 shown, a first distance measuring unit 240 is further provided on the brick feeding device 200 for detecting the relative position relationship between the brick feeding device 200 and the paving robot 100.

[0154] The multi-robot collaborative brick paving method further includes:

[0155] When the brick feeding device moves to the brick feeding position and the paving robot moves to the brick taking position, the brick feeding device controls the first distance measuring unit to measure the relative position information between the brick feeding device and the paving robot;

[0156] The brick feeding device adjusts its position according to the relative position information by controlling the second moving chassis to adjust the position relationship between the brick feeding device and the paving robot.

[0157] When the brick feeding device 200 reaches the brick taking position and the paving robot 100 reaches near the brick feeding device 200 to prepare for brick replenishment, there is a general relative position between the brick feeding device 200 and the paving robot 100. At this time, the brick feeding device 200 can automatically detect the relative position information between itself and the paving robot 100, and then adjust its own orientation according to the relative position information, so as to accurately revise the position error between the two, so that the brick feeding device 200 is located at a better brick taking position and improve the brick replenishment efficiency.

[0158] In an alternative embodiment, as Figure 10 shown, the paving robot 100 further includes an external hopper 160; the external hopper 160 is detachably installed on the first moving chassis 110, and the outlet of the external hopper 160 is communicated with the inlet of the slurry paving mechanism 150.

[0159] The multi-robot collaborative bricklaying method further includes: obtaining the slurry loading amount in the external hopper 160, determining the grout replenishment position where the bricklaying robot 100 is located when the external hopper 160 needs to be replaced according to the operation path, and notifying the external of the grout replenishment position.

[0160] In an optional embodiment, as Figure 7 shown, the grout spreading mechanism 150 includes a displacement adjustment mechanism 151 and a grout spreading terminal 152. The grout spreading terminal 152 is installed on the first mobile chassis 110 through the displacement adjustment mechanism 151. The displacement adjustment mechanism 151 includes an X-direction displacement module 1511 and a Z-direction displacement module 1512.

[0161] The multi-robot collaborative method further includes: controlling the X-direction displacement module 1511 to adjust the distance of the grout spreading terminal 152 in the left-right direction of the grout spreading path, and controlling the Z-direction displacement module 1512 to adjust its own displacement so that the grout spreading terminal 152 extends forward or retracts towards the first mobile chassis 110.

[0162] In an optional embodiment, the grout spreading mechanism 150 further includes a second distance measuring unit 153 and a deviation correction measuring unit; both the second distance measuring unit 153 and the deviation correction measuring unit are signal-connected to the main control unit 120. The second distance measuring unit 153 is used to measure the distance between the grout spreading terminal 152 and the front wall; the deviation correction measuring unit is used to measure the reference line on the side of the grout spreading terminal 152.

[0163] The method further includes:

[0164] When laying the first brick against the front wall, obtaining the distance between the grout spreading terminal 152 and the front wall through the second distance measuring unit 153, and controlling the grout spreading terminal 152 to extend forward through the Z-direction displacement module 1512 so that the grout spreading terminal 152 is close to the front wall to achieve wall-adjacent grout spreading.

[0165] Adjust the X-direction displacement module 1511 so that the grout spreading terminal 152 detects the reference line and makes the grout spreading terminal 152 closer to the side wall to better achieve wall-adjacent bricklaying and reduce the hollowing problem existing in conventional bricklaying.

[0166] In an optional embodiment, the bricklaying robot further includes a third distance measuring unit; the third distance measuring unit is installed on the first mobile chassis, and the third distance measuring unit is used to measure the distance between the grout spreading mechanism and the side wall; the method further includes:

[0167] When laying bricks close to the door pier or against the side wall, obtaining the distance between the grout spreading terminal and the side wall through the third distance measuring unit, and controlling the grout spreading terminal to extend towards the side wall through the X-direction displacement module so that the grout spreading terminal is close to the side wall to achieve wall-adjacent grout spreading, and making the first mobile chassis away from the side wall or the door pier.

[0168] In the embodiment of the present application, the grout laying terminal 152 is installed on the first moving chassis 110 through the Y-direction displacement module 1513, the X-direction displacement module 1511, and the Z-direction displacement module 1512. The X-direction displacement module 1511 is used to adjust the distance of the grout laying terminal 152 in the left-right direction of the grout laying path, and the Z-direction displacement module 1512 is used to extend the grout laying terminal 152 forward or retract it to the first moving chassis 110, so that the grout laying terminal 152 can more flexibly adjust the grout laying position in scenarios such as wall-adjacent paving, internal and external corner paving, and door pier paving, which helps to improve the grout laying quality and reduce the hollowing problem existing in conventional paving.

[0169] In the description of the embodiment of the present application, it should be noted that if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used to indicate the orientation or position relationship, it is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the product of this application is usually placed during use. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present application. In addition, in the description of the present application, if terms such as "first", "second", etc. are used only for distinguishing descriptions, they cannot be understood as indicating or implying relative importance. In addition, in the description of the present application, if terms such as "horizontal" and "vertical" are used, it does not mean that the components are required to be absolutely horizontal or hanging vertically, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and it does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0170] In the description of the present application, it should also be noted that unless otherwise clearly specified and limited, if terms such as "set", "install", "connect", "connection" are used, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0171] The terms used in the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms of "a", "the", and "said" used in the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0172] Note that the above is only the preferred embodiment of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments. Without departing from the concept of the present application, more other equivalent embodiments can be included, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A multi-machine collaborative tile laying system, characterized in that: include: paving robots and brick-feeding equipment; The paving robot includes a first mobile chassis, and a main control unit, a brick bin and a brick laying mechanism arranged on the first mobile chassis; The brick conveying device includes a second mobile chassis, a brick placing platform and a first slave control unit provided on the second mobile chassis, wherein the first slave control unit is in communication with the master control unit; The master control unit is used to control the paving robot to perform floor tile paving operations according to a predetermined operation path and obtain the number of tiles to be laid in the brick bin; the master control unit is also used to determine a brick retrieval position based on the operation path and the number of tiles to be laid, and send the brick retrieval position to the first slave control unit; The first slave control unit is used to obtain the brick delivery position according to the brick retrieval position; the first slave control unit is also used to control the second mobile chassis to drive the brick delivery device to move to the brick delivery position, so that when the paving robot moves to the brick retrieval position, it can take bricks from the brick placement platform and perform floor tile paving operations.

2. The multi-machine collaborative tiling system according to claim 1, characterized in that: The machine further comprises a slurry feeding device, the slurry feeding device comprising a third mobile chassis, and a slurry feeding unit and a second slave control unit provided on the third mobile chassis, the second slave control unit being communicatively connected to the master control unit; The paving robot further includes a slurry spreading mechanism located on the first mobile chassis, wherein the slurry spreading mechanism has a hopper; The master control unit is further configured to control the paving robot to perform slurry paving according to a predetermined operation path and obtain the amount of slurry in the hopper; the master control unit is further configured to determine a slurry filling position based on the operation path and the slurry amount, and send the slurry filling position to the second slave control unit; The second slave control unit is used to obtain the slurry delivery position according to the slurry feeding position; the second slave control unit is also used to control the third mobile chassis to drive the slurry feeding equipment to move to the slurry feeding position, so that when the paving robot moves to the slurry feeding position, it can slurry through the slurry feeding unit.

3. The multi-machine collaborative tiling system according to claim 1, characterized in that: The brick-taking position is the working position of the paving robot on the working path when the number of the bricks to be laid in the brick bin is zero.

4. The multi-machine collaborative tiling system according to claim 1, characterized in that: The brick feeding device is provided with a first distance measuring unit; When the brick feeding device moves to the brick feeding position and the paving robot moves to the brick taking position, the first ranging unit is used to measure the relative position information between the brick feeding device and the paving robot; The first slave control unit is used to control the movement of the second mobile chassis according to the relative position information, so as to adjust the relative position between the brick feeding device and the paving robot.

5. The multi-machine collaborative tiling system according to claim 1, characterized in that: The paving robot further includes a slurry spreading mechanism located on the first mobile chassis, wherein the slurry spreading mechanism has an external hopper; The external hopper is detachably mounted on the first mobile chassis, and the outlet of the external hopper is communicated with the slurry inlet of the slurry spreading mechanism.

6. The multi-machine collaborative tiling system according to claim 5, characterized in that: The main control unit is further used to obtain the slurry loading amount in the external hopper, and determine the grouting position of the paving robot when the external hopper needs to be replaced according to the operation path, and notify the outside of the grouting position.

7. The multi-machine collaborative tiling system according to claim 5, characterized in that: The slurry spreading mechanism includes a slurry pump unit; a sunken installation position is provided in the middle of the first mobile chassis; the slurry pump unit is installed in the sunken installation position; An electric control cabinet is also provided on the first mobile chassis, the brick bin is provided on the top of the electric control cabinet, the middle part of the electric control cabinet is hollowed out to form the glue storage part of the pump slurry unit, the external hopper is detachably installed above the glue storage part, and the discharge port at the bottom of the external hopper is located in the glue storage part.

8. The multi-machine collaborative tiling system according to claim 1, characterized in that: The paving robot further includes a slurry spreading mechanism located on the first mobile chassis; The slurry spreading mechanism includes a displacement adjustment mechanism and a slurry spreading terminal, and the slurry spreading terminal is installed on the first mobile chassis through the displacement adjustment mechanism; The displacement adjustment mechanism includes an X-direction displacement module and a Z-direction displacement module; the X-direction displacement module is used to adjust the distance of the slurry paving terminal in the left and right directions of the slurry paving path, and the Z-direction displacement module is used to make the slurry paving terminal extend forward or retract toward the first movable chassis.

9. The multi-machine collaborative tiling system according to claim 8, characterized in that: The grouting mechanism further includes a second distance measuring unit and a deviation correction measurement unit; both the second distance measuring unit and the deviation correction measurement unit are connected to the main control unit by signal; the second distance measuring unit is used to measure the distance between the grouting terminal and the wall in front of it, and the deviation correction measurement unit is used to detect the reference line on the side of the grouting terminal; When laying the first brick against the front wall, the main control unit obtains the distance between the grouting terminal and the front wall through the second distance measuring unit, and controls the grouting terminal to extend forward through the Z-direction displacement module so that the grouting terminal is close to the front wall to achieve grouting against the wall; the main control unit also adjusts the X-direction displacement module so that the grouting terminal and the reference line detected by the correction measurement unit do not deviate.

10. The multi-machine collaborative tiling system according to claim 8, characterized in that: The paving robot further includes a third distance measuring unit; the third distance measuring unit is mounted on the first mobile chassis and is signal-connected to the main control unit, and is used to measure the distance between the paving mechanism and its side wall; When paving near a door pier or against a side wall, the main control unit obtains the distance between the grouting terminal and the side wall through the third distance measuring unit, and controls the grouting terminal to extend toward the side wall through the X-direction displacement module, so that the grouting terminal is close to the side wall to achieve grouting against the wall, and the first mobile chassis is moved away from the side wall or door pier.

11. The multi-machine collaborative tiling system according to claim 1, characterized in that: The brick-laying mechanism includes a robotic arm support frame, a robotic arm and a grabbing assembly; the robotic arm support frame is detachably mounted on the first mobile chassis; the robotic arm is mounted on the robotic arm support frame, and the grabbing assembly is mounted on the robotic arm.

12. A multi-machine collaborative tiling method, characterized in that: The steps include: Controlling a paving robot to perform floor tile paving operations according to a predetermined operation path, wherein the paving robot includes a first mobile chassis, and a brick bin and a brick paving mechanism provided on the first mobile chassis; Obtain the number of bricks to be laid in the brick bin; Determine the brick taking position according to the operation path and the number of bricks to be laid in the brick bin; Sending the brick-taking position to the brick-feeding device, so that the brick-feeding device obtains the brick-feeding position according to the brick-taking position and moves to the brick-feeding position; When the paving robot moves to the brick taking position, it is controlled to take bricks from the brick placing platform of the brick feeding device.

13. The multi-machine collaborative tiling method according to claim 12, characterized in that: The following steps are also included: Controlling the paving robot to perform slurry paving according to a predetermined operation path, wherein the paving robot further comprises a slurry paving mechanism located on the first mobile chassis, the slurry paving mechanism having a hopper; Obtaining the amount of slurry in the hopper; Determining a grouting position according to the operation path and the slurry amount; Sending the grouting position to a slurry feeding device; When the paving robot moves to the grouting position, grouting is performed through the slurry feeding device.

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