Floor tile paving positioning method based on linear displacement sensor

Abstract

The invention belongs to the technical field of application of linear displacement sensors to floor tile paving, and particularly relates to a floor tile paving positioning method based on linear displacement sensors, which comprises the following steps: acquiring at least two groups of corresponding side edge alignment reference points, a coordinate origin of an end effector of a mechanical arm and coordinate positions of at least three linear displacement sensors; setting a first group of side edge alignment reference points according to coordinate positions of three linear displacement sensors corresponding to a to-be-laid brick clamped by an end effector of a mechanical arm; according to the coordinate positions of the three linear displacement sensors and the side edge position of the corresponding reference brick, setting a second group of side edge alignment reference points; the coordinate origin of an end effector of the mechanical arm serves as an initial point, and the shortest distance between the first set of side edge alignment reference points and the second set of side edge alignment reference points is obtained. According to the invention, the adaptability and reliability of positioning identification can be improved, the paving efficiency of the floor tile paving robot is improved, and the research, development, production and maintenance costs of products are reduced.

Description

Technical Field

[0001] The invention belongs to the application of a linear displacement sensor to floor tile paving and relates to a floor tile paving positioning method based on the linear displacement sensor. Background Art

[0002] The wall tile and floor tile laying robots currently under development or in use all use visual solutions to identify and locate the laying position. This is mainly done by installing a 2D or 3D camera at the end of the robot arm. When working, it first takes photos to collect on-site images, and then uses visual algorithms to identify the corners of the markings or reference bricks, as well as the corners of the bricks to be laid that the robot arm has already grasped, thereby calculating the actual laying position of the bricks to be laid.

[0003] Problems with existing technologies: Under ideal conditions, the visual solution can achieve a high degree of accuracy. However, due to the complexity and variability of the floor tile paving construction environment, especially the outdoor construction environment, there are many problems in actual application. First, changes in ambient light have a great impact on the photography effect. Strong light, weak light, and polarized light may cause the camera photos to be overexposed, dark, or shadowed, resulting in visual recognition errors or inability to recognize; secondly, dust, dirt, water stains on the surface of bricks will also have a great impact on image recognition, and more effort will be required to treat the brick surface, which will affect the paving efficiency; thirdly, bricks of different colors will also affect the visual recognition results, especially dark bricks. Since the features are not obvious, it is easy to fail to recognize the corners and edges of bricks.

[0004] As a precision device, cameras require more stringent protection measures under harsh outdoor construction conditions, and the cost of installation and maintenance is also higher. At the same time, although there are many open source visual algorithms, they also require relatively high development and maintenance costs to be used in actual projects. In addition, with the existing method of laying and positioning floor tiles, the movement mode during the laying process is horizontal and vertical displacement, and finally the laying is completed. This method cannot further reduce the speed of laying tiles during the installation process, and the mechanical movement mode is relatively rigid. Summary of the invention

[0005] The purpose of the present invention is to provide a floor tile paving positioning method based on a linear displacement sensor, which can improve the adaptability and reliability of positioning and identification, improve the paving efficiency of a floor tile paving robot, and reduce product research and development, production and maintenance costs.

[0006] The technical solution adopted by the present invention is as follows: The floor tile paving positioning method based on the linear displacement sensor includes the following steps: Obtaining at least two sets of corresponding side alignment reference points, a coordinate origin of a robot end effector, and coordinate positions of at least three linear displacement sensors; According to the coordinate positions of the three linear displacement sensors corresponding to the bricks to be laid held by the end effector of the robot arm, the first set of side alignment reference points are set; According to the coordinate positions of the three linear displacement sensors, the side positions of the corresponding reference bricks are set as the second set of side alignment reference points; Taking the coordinate origin of the end effector of the robot arm as the initial point, obtaining the shortest distance between the first set of side alignment reference points and the second set of side alignment reference points, and setting the shortest distance as the compression displacement; The shortest distance is obtained by obtaining the angle difference between any one of the first set of side alignment reference points of the to-be-laid brick and the reference point corresponding to the second set of side alignment reference points of the reference brick, and the vertical and horizontal displacements between the to-be-laid brick and the reference brick; The position information of the positioning and paving is further obtained through the angle difference and displacement, and the shortest displacement path between the brick to be laid and the reference brick is executed; Complete the positioning of the paving position and the installation of the bricks to be laid.

[0007] The method for obtaining the shortest displacement path includes the following steps: According to the vertical distance between the end effector of the robot arm and the reference brick and the installation horizontal spacing, the angle difference between the end effector of the robot arm and the reference brick is obtained; According to the angle difference between the end effector of the robot arm and the reference brick, the compression displacement, that is, the shortest displacement path, is calculated.

[0008] Based on the initial contact point coordinate value of the tool coordinate system of the robot end effector, the final moving distance and angle of the end effector can be calculated according to the displacement sensor coordinates and compression displacement to complete the paving position positioning.

[0009] The inclination angle of the brick to be laid relative to the inclination angle of the top surface of the reference brick is less than or equal to 5°.

[0010] The method for adjusting the inclination angle of the bricks to be laid comprises the following steps: Obtain at least two first side alignment reference points in a first group of side alignment reference points, and two second alignment reference points corresponding to the first side alignment reference points in a second group of side alignment reference points, wherein the first side alignment reference points are located at two non-parallel sides of the brick to be laid; Obtain the parallel status of the sides where the two corresponding first side alignment reference points and the second side alignment reference points are located.

[0011] The steps include: SS1, the end effector of the robot arm grabs the bricks to be laid and reaches the specified position; SS2, measure the detection depth of the displacement sensor through the laser ranging sensor, and move to the position where the bricks to be installed and laid are located; SS3. In step SS2, during the process of moving the brick to be laid, the parallel state between the reference brick and the brick to be laid is detected. If the tilt angle is greater than 5°, adjustment is performed by the robotic arm; SS4, obtaining and calculating the shortest displacement path between the brick to be laid and the reference brick, and setting the direction vector according to the shortest displacement path; SS5. According to the direction vector, move the brick to be laid to a position aligned with the reference brick, so that the corresponding first set of side alignment reference points are aligned with the second set of side alignment reference points; SS6, detect the change of the compression of the linear displacement sensor. When the compression distance of the linear displacement sensor is greater than 3mm, the robot arm stops moving to one side. Then control the robot arm to move to the other side. When it is detected that the compression of the two linear displacement sensors at the front end is greater than 1mm, stop the movement of the robot arm; SS7, the vibration mechanism vibrates the bricks to be laid so that the top of the bricks to be laid is flush with the top of the reference bricks; SS8, stop the operation of the robot arm and the end effector of the robot arm, and read the values ​​of at least the linear displacement sensors of the bricks to be laid, and calculate the difference between the current end effector of the robot arm and the laying position; SS9, used to memorize the moving position path and complete the paving positioning; SS10, the robot arm moves the tiles to be laid along the specified path to complete the floor tile laying operation.

[0012] The side alignment reference point is located on the side of the floor tile, and there is at least one.

[0013] The sides of the bricks to be laid corresponding to the two linear displacement sensors are aligned with the first side reference point. The extended intersection points of the two second side alignment reference points on the corresponding reference bricks are the third set of side alignment reference points through two extended and intersecting intersection points of the sides of the bricks to be laid.

[0014] The floor tile paving positioning device based on the linear displacement sensor includes: A robotic arm, and a robotic arm end effector installed at the front end of the robotic arm, the robotic arm end effector is used to clamp the bricks to be laid, and a laser ranging sensor and at least two linear displacement sensors are installed on the side of the robotic arm end effector; An electronic device comprises a memory and a processor, wherein the memory is used to store a control system, and the processor executes the control system to implement the above positioning method.

[0015] A computer program product includes a computer program, and when the computer program is executed by a processor, the positioning method is implemented.

[0016] The technical effects achieved by the present invention are: The present invention, through the identification and planning of the shortest path, can control the time for initial positioning and paving of tiles within 8 seconds during the positioning execution stage. After the positioning is completed, continuous paving can increase the efficiency of paving a floor tile to within 5 seconds, thereby improving the adaptability and reliability of positioning identification and improving the paving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic flow chart of the method of the present invention; Figure 2 It is a structural schematic diagram of the positioning device in the present invention; Figure 3 It is a schematic diagram of the structure between the positioning device and the reference brick in the present invention.

[0018] In the accompanying drawings, the components represented by the reference numerals are listed as follows: 1. Robot arm end effector; 2. Bricks to be laid; 3. Displacement sensor lifting mechanism; 4. Laser ranging sensor; 5. First linear displacement sensor; 6. Second linear displacement sensor; 7. Third linear displacement sensor; 8. Fourth linear displacement sensor. DETAILED DESCRIPTION

[0019] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

[0020] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0021] According to an embodiment of the present invention, a method embodiment of a floor tile laying positioning method based on a linear displacement sensor is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0022] like Figure 1 As shown, the floor tile paving positioning method based on the linear displacement sensor includes the following steps: Step 1: Obtain at least two sets of corresponding side alignment reference points, the coordinate origin of the robot end effector 1 and the coordinate positions of at least three linear displacement sensors; Step 2: according to the coordinate positions of the three linear displacement sensors corresponding to the brick block 2 to be laid held by the end effector 1 of the robot arm, set them as the first set of side alignment reference points; Step 3: According to the coordinate positions of the three linear displacement sensors, the side positions of the corresponding reference bricks are set as the second set of side alignment reference points; Step 4: Taking the coordinate origin of the robot end effector 1 as the initial point, obtain the shortest distance between the first set of side alignment reference points and the second set of side alignment reference points, and set the shortest distance as the compression displacement; Step 5: The shortest distance is obtained by obtaining the angle difference between any one of the first set of side alignment reference points of the to-be-laid brick 2 and the reference point corresponding to the second set of side alignment reference points of the reference brick, as well as the vertical and horizontal displacements between the to-be-laid brick 2 and the reference brick; Step 6: further obtain the position information of the positioning and paving through the angle difference and displacement, and execute the shortest displacement path between the brick 2 to be laid and the reference brick; Step 7: Complete the positioning of the paving position and the installation of the bricks 2 to be laid.

[0023] According to the above steps, the above steps are used to determine the positioning of the linear displacement sensor during the process of laying floor tiles. The positioning method includes initial positioning and positioning during the continuous installation process.

[0024] In step one, the position of the side alignment reference point is selected, optionally, at the middle of the side or at the end point of the side, preferably, at two points on the same brick block 2 to be laid, preferably at two intersecting sides, which is more conducive to the leveling of the brick block 2 to be laid, and the alignment between the brick block 2 to be laid and the reference brick in the subsequent identification and positioning process.

[0025] Optionally, two sets of corresponding side alignment reference point positions, such as the floor tiles have a thicker thickness, then the alignment reference point positions on the to-be-laid brick 2 correspond to the alignment reference point positions on the reference brick; Optionally, the alignment reference point is set on one side of the brick 2 to be laid and the top of the reference brick.

[0026] Optionally, the method for identifying and determining the alignment reference point includes using a laser distance measuring sensor 4 or a linear displacement sensor to identify the corresponding position of the irradiation.

[0027] Optionally, a marking point may be set at a position corresponding to the top of the brick to be laid 2 and the reference brick for rapid identification by the laser ranging sensor 4 or the linear displacement sensor.

[0028] Furthermore, in step 1, the robot end effector 1 uses a robot arm, and the robot end effector 1 is installed at the front end of the robot arm to perform the operations of grabbing floor tiles and laying floor tiles. Furthermore, at least three linear displacement sensors in step one are located at two of the sides corresponding to the brick block 2 to be laid, and the other is located at the position to be bonded between the brick block 2 to be laid and the reference brick.

[0029] Optionally, four linear displacement sensors are provided, two of which are located at the side corresponding to one side of the brick block 2 to be laid, and the other two are located at the other two opposite sides of the brick block 2 to be laid; Optional, four linear displacement sensors installation positions can refer to Figure 2 As shown, as shown in the figure, the first linear displacement sensor 5, the second linear displacement sensor 6, the third linear displacement sensor 7 and the fourth linear displacement sensor 8, wherein the four linear displacement sensors are all installed on the displacement sensor lifting mechanism 3, and the vertical lifting of the four linear displacement sensors is realized by the lifting cylinder arranged between the displacement sensor lifting mechanism 3 and the end effector 1 of the robot arm, thereby avoiding damage to the linear displacement sensors during use.

[0030] Optionally, the reference bricks are identified and positioned during the positioning operation.

[0031] Optionally, the linear displacement sensor includes a mechanical contact linear displacement sensor and a non-contact photoelectric induction linear displacement sensor.

[0032] Optionally, when the linear displacement sensor is a mechanical contact linear displacement sensor, contact measurement is performed to sense the position of the reference brick, thereby achieving positioning when installing the brick block 2 to be laid, as well as position measurement.

[0033] Optionally, when the linear displacement sensor is a non-contact photoelectric linear displacement sensor, non-contact measurement can be achieved by using an infrared sensor, etc. The advantage is that non-contact positioning and measurement of the reference brick can be achieved, and it can be used to realize the identification and alignment of the side alignment reference points corresponding to the brick block 2 to be laid and the reference brick.

[0034] Please refer to Figure 3 In step 2, the coordinate system of the robot end effector 1 is set as the coordinate origin, and the coordinates of the four linear displacement sensors are set as: (P1x, P1y), (P2x, P2y), (P3x, P3y) and (P4x, P4y).

[0035] Optionally, (P2x, P2y), (P3x, P3y) and (P1x, P1y) and / or (P4x, P4y) are set as a first set of side alignment reference points.

[0036] Optionally, it should be noted that, during use, if there are other irregular floor tiles such as hexagons, circles, etc., the three linear displacement sensors in this embodiment can also be used.

[0037] Optionally, this method is also applicable to wall tiles, ceiling structures, etc. in addition to laying floor tiles.

[0038] Furthermore, in step three, the second set of side alignment reference points on the reference brick correspond to the reference points in step two, including the corresponding points after installation is completed, and also including the coordinate points in the x-axis and y-axis directions corresponding to the coordinates of the four linear displacement sensors during the installation process.

[0039] Optionally, when the second set of side alignment reference points are corresponding points after the installation is completed, the corresponding points at this time are fixed corresponding points, which can be selected as the middle or end of the reference brick. The coordinates of the four linear displacement sensors at this time also correspond to the middle or side of the brick block 2 to be laid. During the installation process, positioning and subsequent continuous installation are achieved by executing the overlap of corresponding points.

[0040] Optionally, when the second set of side alignment reference points are coordinate points corresponding to the x-axis and y-axis coordinates of the four linear displacement sensors during the installation process, the second set of side alignment reference points at this time changes in real time. During the initial positioning and installation process, the movement and positioning of the brick blocks 2 to be laid are achieved by the end effector 1 of the robotic arm, and the moving gap is gradually reduced to achieve positioning and installation.

[0041] In step four, the shortest distance between the first set of side alignment reference points and the second set of side alignment reference points is obtained to achieve direct installation positioning during the positioning process, thereby avoiding the slow movement of the end effector 1 of the robot arm left and right and up and down in the process of searching for reference bricks. This process is slow and affects the mechanical accuracy. Therefore, the compression displacement is identified to achieve direct positioning and installation of floor tiles.

[0042] Therefore, the method from step five to step seven is used to obtain the shortest distance, that is, the compression displacement, and the shortest displacement path is obtained through the compression displacement, and then executed to achieve the positioning and installation of the brick block 2 to be laid.

[0043] Embodiment 1: Specifically, the method for obtaining the shortest displacement path includes the following steps: According to the vertical distance (Δz) between the end effector 1 of the robot arm and the reference brick and the installation horizontal spacing (Δx), the angle difference (θ1) between the end effector 1 of the robot arm and the reference brick is obtained; The calculation formula is: θ1=atan(Δz / Δx); Optionally, in the formula, Δz is the vertical distance between a first side alignment reference point of the robot end effector 1 corresponding to the top side of the brick 2 to be laid and the first side alignment reference point corresponding to the reference brick; Optionally, θ1 is the execution movement angle of the robot end effector 1 during the execution process, and the hypotenuse length, that is, the compression displacement, is calculated through the sine or cosine formula. By executing the compression displacement through the robot end effector 1, the floor tiles can be quickly installed and positioned. So far, this step is suitable for quick installation and positioning during the installation process, and is suitable for situations where there is no concave-convex state on the side of the floor tiles.

[0044] Optionally, in the formula, Δx is the horizontal distance between a first side alignment reference point and the first side alignment reference point corresponding to the reference brick; Optionally, Δz and Δx can be acquired using a laser ranging sensor 4 and a linear displacement sensor, respectively.

[0045] Among them, the determination of the horizontal distance is applicable to the two second groups of side alignment reference points in step three, but it should be noted that it needs to correspond to one of the two second groups of side alignment points in this implementation.

[0046] Among them, the displacement of the end effector 1 of the robot arm is also the distance between the corresponding points of the second group of side alignment reference points corresponding to the first group of side alignment reference points. Through the above method, in the positioning stage, the time for initial positioning of tile laying can be controlled within 8s. After the positioning is completed, continuous laying can increase the efficiency of laying a floor tile to within 5s, thereby improving the adaptability and reliability of positioning recognition, and improving the laying efficiency.

[0047] Embodiment 2: When the side of the floor tile has a concave-convex structure and the floor tiles need to be spliced, this embodiment is used to achieve: Two linear displacement sensors are installed at the front end of the robot end effector 1, and one linear displacement sensor is installed on each of the left and right sides (such as Figure 3), where the displacement sensor is installed at a fixed position, and the initial contact point coordinate value (x, y) based on the tool coordinate system of the robot end effector 1 is determined. According to the displacement sensor coordinates and the compression displacement, the final moving distance and angle of the end effector can be calculated to complete the paving position positioning.

[0048] The compression displacement in this embodiment includes the movement distance in the x-axis or y-axis direction.

[0049] Specifically, the angle calculation of the robot end effector 1 is: During operation, when the two linear displacement sensors installed at the front end of the robot end effector 1 are inconsistent with the angle of the reference brick, an error will occur. According to the difference in change (Δd) and the installation position spacing (l), the angle difference (θ) between the end effector and the reference brick can be calculated; Calculation formula: θ=atan(Δd / l).

[0050] Furthermore, the distance of the end effector 1 of the robot arm is obtained. According to the calculated angle difference (θ) of the end effector 1 of the robot arm, the installation coordinates of the linear displacement sensor (Px, Py) and the change value (d) of the linear displacement sensor, the distance (L) from the origin of the end effector 1 of the robot arm to the reference brick can be calculated; L=(Py-d)+Px×tan(θ)×cos(θ).

[0051] Furthermore, the distances from the origin of the robot end effector 1 to the reference brick in the x-direction and y-direction are calculated respectively (Lx, Ly), and the distances from the two sides of the brick to be laid 2 grasped by the robot end effector 1 to the origin (Ox, Oy) are subtracted from this distance to obtain the displacement of the end effector at the laying position (Lx-Ox, Ly-Oy, θ); Furthermore, since the tool coordinate system and the end coordinate system are not consistent at this time, the displacement in the end coordinate system needs to be converted to the tool coordinate system, and finally the displacement of the end effector (Mx, My, θ) is calculated. The coordinate conversion calculation formula is: Mx=(Lx-Ox)×cos(θ)+(Ly-Oy)×sin(θ); My=-(Lx-Ox)×sin(θ)+(Ly-Oy)×cos(θ).

[0052] It should be noted that, when there is no concave-convex structure on the side of the floor tile, the installation of the brick block 2 to be laid can also be achieved by using the method of the first embodiment instead of using the method of the first embodiment.

[0053] In the above-mentioned embodiment 2, before executing the above-mentioned steps, the plug-in stroke of the concave-convex structure on the side of the floor tile, that is, the displacement distance of the plug-in, can be measured. In the actual installation process, a position completed by embodiment 1 is first set. At this position, embodiment 2 can be executed to achieve plug-in and installation.

[0054] In addition, the inclination angle of the brick block 2 to be laid relative to the top surface of the reference brick is less than or equal to 5°, that is, the extended angle between the top surface of the brick block 2 to be laid and the top surface of the reference brick cannot be greater than 5°. Because, when the angle is greater than 5°, during the installation of the brick block 2 to be laid, the gap between it and the reference brick will be mixed with impurities such as cement due to the inclined installation process, thereby reducing the fitting accuracy.

[0055] Therefore, the method for adjusting the inclination angle of the brick 2 to be laid comprises the following steps: Obtain at least two first side alignment reference points in the first group of side alignment reference points, and two second alignment reference points corresponding to the first side alignment reference points in the second group of side alignment reference points, wherein the first side alignment reference points are located at two non-parallel sides of the brick 2 to be laid; Obtain the parallel status of the sides where the two corresponding first side alignment reference points and the second side alignment reference points are located.

[0056] According to the above method, by obtaining whether the angle is greater than 5°, when the angle is greater than 5°, the robot end effector 1 is started to adjust the horizontal angle of the brick 2 to be laid.

[0057] Optionally, a spirit level may be installed on the end effector 1 of the robot arm. When it is detected that the angle between the brick block 2 to be laid and the reference brick is less than 5°, but the parameters of the spirit level are abnormal, an emergency alarm system needs to be activated to remind the staff to check whether any reference bricks that have been laid are tilted. This can especially be used during the laying process to reduce the chances of crooked laying of floor tiles and ensure stable project quality.

[0058] Optionally, when the paving tilts, the stability of the subsequent paving of floor tiles can be improved by resetting the already laid floor tiles.

[0059] In the practical application stage, the floor tile paving positioning method based on the linear displacement sensor includes the following steps: SS1, the end effector 1 of the robot arm grabs the brick 2 to be laid and reaches the specified position; SS2, measure the detection depth of the displacement sensor through the laser ranging sensor 4, and move to the position of the brick block 2 to be installed and laid; SS3. In step SS2, during the process of moving the brick 2 to be laid, the parallel state between the reference brick and the brick 2 to be laid is detected. If the tilt angle is greater than 5°, adjustment is performed by the robot arm; SS4, obtaining and calculating the shortest displacement path between the brick 2 to be laid and the reference brick, setting the direction vector according to the shortest displacement path, and judging whether to execute any one of the paving methods in Embodiment 1 and / or Embodiment 2 according to the type of the side edge of the floor tile; SS5. According to the direction vector, move the brick 2 to be laid to a position aligned with the reference brick, so that the corresponding first set of side alignment reference points are aligned with the second set of side alignment reference points; SS6, detect the change of the compression of the linear displacement sensor. When the compression distance of the linear displacement sensor is greater than 3mm, the robot arm stops moving to one side, and then controls the robot arm to move to the other side. When it is detected that the compression of the two linear displacement sensors at the front end is greater than 1mm, the robot arm stops moving; SS7, the vibration mechanism vibrates the brick block 2 to be laid so that the top of the brick block 2 to be laid is flush with the top of the reference brick; SS8, stop the operation of the robot arm and the robot arm end effector 1, and read the values ​​of at least two linear displacement sensors of the bricks to be laid, and calculate the difference between the current robot arm end effector 1 and the laying position; SS9, used to memorize the moving position path and complete the paving positioning; SS10, using the robot arm to move the brick block 2 to be laid along a specified path to complete the floor tile laying operation.

[0060] According to the above steps, in the actual motion paving process, in order to ensure the paving speed and improve the system operation speed, the side alignment reference point is located on the side of the floor tile and is set to at least one.

[0061] Optionally, when there is only one side alignment reference point and it is located on the reference brick, it is used to identify the side alignment reference point when installing the brick block 2 to be laid on the end effector 1 of the robot arm, and the corresponding installation is sufficient, which can further improve the laying speed of the floor tiles.

[0062] Optionally, the sides of the brick block 2 to be laid corresponding to the two linear displacement sensors are aligned with the first side reference point, and the extended intersection points of the sides where the two second side alignment reference points on the corresponding reference bricks are located are used as the third group of side alignment reference points. The intersection position is used to correspond to the intersection between the brick block 2 to be laid and the two intersecting reference bricks to achieve rapid positioning.

[0063] The floor tile paving positioning device based on the linear displacement sensor includes: A robotic arm, and a robotic arm end effector 1 installed at the front end of the robotic arm, the robotic arm end effector 1 is used to clamp the bricks 2 to be laid, and a laser distance sensor 4 and at least two linear displacement sensors are installed on the side of the robotic arm end effector 1; An electronic device comprises a memory and a processor, wherein the memory is used to store a control system, and the processor executes the control system to implement the above positioning method.

[0064] A computer-readable storage medium stores a computer program, and the computer program implements the above positioning method when executed by a processor.

[0065] A computer program product includes a computer program, and when the computer program is executed by a processor, the positioning method is implemented.

[0066] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A floor tile paving positioning method based on a linear displacement sensor is characterized in that: The steps include: Obtaining at least two sets of corresponding side alignment reference points, a coordinate origin of a robot end effector, and coordinate positions of at least three linear displacement sensors; According to the coordinate positions of the bricks to be laid held by the end effector of the robot arm corresponding to the three linear displacement sensors, the coordinate positions are set as the first set of side alignment reference points; According to the coordinate positions of the three linear displacement sensors, the side positions of the corresponding reference bricks are set as the second set of side alignment reference points; Taking the coordinate origin of the end effector of the robot arm as the initial point, obtaining the shortest distance between the first group of side alignment reference points and the second group of side alignment reference points, wherein the shortest distance is set as the compression displacement; The shortest distance is obtained by obtaining the angle difference between any one of the first set of side alignment reference points of the to-be-laid brick and the reference point corresponding to the second set of side alignment reference points of the reference brick, and the vertical and horizontal displacements between the to-be-laid brick and the reference brick; Further obtain the position information of the positioning and paving through the angle difference and displacement, and execute the shortest displacement path between the brick to be laid and the reference brick; Complete the positioning of the paving position and the installation of the bricks to be laid.

2. The floor tile paving positioning method based on linear displacement sensor according to claim 1 is characterized in that: The method for obtaining the shortest displacement path includes the following steps: Obtaining the angle difference between the end effector of the robot arm and the reference brick according to the vertical distance between the end effector of the robot arm and the reference brick and the installation horizontal spacing; According to the angle difference between the end effector of the robot arm and the reference brick, the compression displacement, that is, the shortest displacement path, is calculated.

3. The floor tile paving positioning method based on linear displacement sensor according to claim 1 is characterized in that: Based on the initial contact point coordinate value of the tool coordinate system of the robot end effector, the final moving distance and angle of the end effector can be calculated according to the displacement sensor coordinates and compression displacement to complete the paving position positioning.

4. The floor tile paving positioning method based on linear displacement sensor according to claim 1 is characterized in that: The inclination angle of the brick to be laid relative to the top surface of the reference brick is less than or equal to 5°.

5. The floor tile paving positioning method based on linear displacement sensor according to claim 4 is characterized in that: The method for adjusting the inclination angle of the bricks to be laid comprises the following steps: Obtain at least two first side alignment reference points in a first group of side alignment reference points, and two second alignment reference points corresponding to the first side alignment reference points in a second group of side alignment reference points, wherein the first side alignment reference points are located at two non-parallel sides of the brick to be laid; Obtain the parallel status of the sides where the two corresponding first side alignment reference points and the second side alignment reference points are located.

6. The floor tile paving positioning method based on a linear displacement sensor according to any one of claims 1 to 5, characterized in that: The steps include: SS1, the end effector of the robot arm grabs the bricks to be laid and reaches the specified position; SS2, measure the detection depth of the displacement sensor through the laser ranging sensor, and move to the position where the bricks to be installed and laid are located; SS3. In step SS2, during the process of moving the brick to be laid, the parallel state between the reference brick and the brick to be laid is detected. If the tilt angle is greater than 5°, adjustment is performed by the robotic arm; SS4, obtaining and calculating the shortest displacement path between the brick to be laid and the reference brick, and setting the direction vector according to the shortest displacement path; SS5. According to the direction vector, move the brick to be laid to a position aligned with the reference brick, so that the corresponding first set of side alignment reference points are aligned with the second set of side alignment reference points; SS6, detect the change of the compression of the linear displacement sensor. When the compression distance of the linear displacement sensor is greater than 3mm, the robot arm stops moving to one side. Then control the robot arm to move to the other side. When it is detected that the compression of the two linear displacement sensors at the front end is greater than 1mm, stop the movement of the robot arm; SS7, the vibration mechanism vibrates the bricks to be laid so that the top of the bricks to be laid is flush with the top of the reference bricks; SS8, stop the operation of the robot arm and the end effector of the robot arm, and read the values ​​of at least the linear displacement sensors of the bricks to be laid, and calculate the difference between the current end effector of the robot arm and the laying position; SS9, used to memorize the moving position path and complete the paving positioning; SS10, the robot arm moves the tiles to be laid along the specified path to complete the floor tile laying operation.

7. The floor tile paving positioning method based on linear displacement sensor according to claim 6 is characterized in that: The side alignment reference point is located on the side of the floor tile, and there is at least one of them.

8. The floor tile paving positioning method based on linear displacement sensor according to claim 1 is characterized in that: The sides of the brick blocks to be laid corresponding to the two linear displacement sensors are aligned with the first side reference point, and the extended intersection points of the sides of the brick blocks to be laid corresponding to the two second side alignment reference points on the reference bricks are used as the third group of side alignment reference points.

9. The floor tile paving positioning device based on the linear displacement sensor is characterized in that: include: A robotic arm, and a robotic arm end effector installed at the front end of the robotic arm, the robotic arm end effector is used to clamp the bricks to be laid, and a laser ranging sensor and at least two linear displacement sensors are installed on the side of the robotic arm end effector; An electronic device comprises a memory and a processor, wherein the memory is used to store a control system, and the processor executes the control system to implement the positioning method described in any one of claims 1 to 8.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the positioning method according to any one of claims 1 to 8 is implemented.

Images