Intelligent brick multi-surface synchronous shoving system and method

Abstract

The invention belongs to the technical field of coke oven masonry, and particularly discloses an intelligent brick multi-face synchronous shoving system and method.The intelligent brick multi-face synchronous shoving system comprises a mechanical arm used for clamping and transferring bricks; the multi-face synchronous shoving mechanism comprises a shoving box, the shoving box is provided with a plurality of discharging nozzles matched with the bricks in shape, the discharging nozzles are further arranged on the shoving box, the discharging nozzles are connected with a mortar extruding cabin through quick connectors, and the multi-face synchronous shoving mechanism further comprises a multi-piston shoving power module. The multi-piston shoving power module is used for extruding slurry in the mortar extruding cabin to a plurality of discharging nozzles and providing stable pressure for slurry extrusion; the visual device is used for identifying the pose information of the mechanical arm and the bricks and the position information of the shoving box; and the control module is used for cooperative control, so that the slurry is uniformly extruded from the multiple discharging nozzles under the specified pressure and smeared on the peripheries of the bricks, and then the mechanical arm is controlled to transfer the bricks to the specified position. The overall efficiency and quality of coke oven building can be effectively improved, and safe and stable operation of the coke oven is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of coke oven masonry, and more particularly, relates to an intelligent brick multi-faceted synchronous slurry squeezing system and method. Background Art

[0002] Coke ovens, the core equipment in coal-to-coke production, feature complex masonry structures, diverse brick shapes, and a wide range of individual brick weights, ranging from a few kilograms to dozens of kilograms. Traditionally, coke oven construction relies primarily on manual labor. However, rising labor costs and increasing labor scarcity have spurred the application of automation technology in coke oven construction, leading to the increasing use of robotic arms in the process, hoping to improve efficiency and quality.

[0003] However, at present, some existing technologies have exposed some problems and shortcomings in the actual application of coke oven masonry. Chinese patent CN117285941A discloses "coke oven body masonry workstation and construction method based on articulated robots". Although its refractory mud laying part has made certain attempts in automated operations, there is still room for improvement in the precise control and uniform distribution of mud flow. This technology mainly adjusts the mud outflow from the discharge pipe by a simple flat joint disassembly method. This adjustment method is difficult to fully take into account the unstable flow caused by various factors during the extrusion process of the mud, such as pressure fluctuations, internal conditions of the pipeline, and changes in the mud's own characteristics. This leads to the fact that in actual applications, it is difficult for the mud to achieve an ideal uniform distribution state on the surface of the bricks. There is often a phenomenon that there is too much mud in some areas and too little mud in some areas, which in turn affects the masonry quality and the effective use of materials to a certain extent. Furthermore, Chinese patent CN117621057A discloses "An Offline Trajectory Planning Method and System for a Masonry Plastering Robot." While this technology guides the robot's operation through carefully designed offline trajectory planning and modeling, maintaining a stable flow output during the actual slurry extrusion process is difficult due to the interplay of factors such as pipeline conditions, slurry properties, and the external environment. Even if the robot moves at a constant speed according to a predetermined planned trajectory, the inability to dynamically adjust the slurry flow rate based on the actual brick conditions makes it difficult to ensure that the slurry fully, evenly, and accurately covers the brick surface when faced with complex and varied brick shapes and diverse masonry requirements. This results in a significant discrepancy between the actual slurry application and the expected results, thus limiting the quality of the masonry. Furthermore, when the robot arm is performing plastering operations, safety restrictions in the work area make it difficult for humans to directly observe and adjust the slurry application process on-site. If problems such as blockages, abnormal flow variations, or uneven distribution arise during the slurry extrusion process, it is difficult to detect and implement effective corrective measures in a timely manner.

[0004] To sum up, in view of the problems faced by the existing technology in the automation process of coke oven masonry, there is an urgent need for an innovative, intelligent multi-faceted synchronous slurry squeezing system and method, which can accurately identify the characteristics of bricks and complete the synchronous slurry squeezing process of multiple faces of a brick in real time and accurately, ensuring that the slurry is evenly, stably and efficiently laid on the surface of the brick, thereby comprehensively improving the overall efficiency and quality of coke oven masonry and ensuring the safe and stable operation of the coke oven in subsequent use. Summary of the Invention

[0005] In response to the above defects or improvement needs of the prior art, the present invention provides an intelligent brick multi-sided synchronous slurry extrusion system and method, which aims to solve the problems of uneven slurry application and dependence on manual labor in the automated masonry of coke ovens. Through the special layout of the pipe body and the discharge nozzle design, it can achieve synchronous slurry extrusion on multiple sides of a brick, solving the problem that the existing intelligent masonry slurry extrusion method of coke ovens requires tedious teaching or path planning operations to complete multi-sided slurry extrusion, greatly improving the slurry extrusion efficiency and quality, and reducing construction time and labor costs.

[0006] To achieve the above objectives, according to one aspect of the present invention, an intelligent brick multi-faceted synchronous slurry squeezing system is proposed, comprising:

[0007] A robotic arm, used to grip and transport bricks;

[0008] A multi-faceted synchronous slurry squeezing mechanism includes a slurry squeezing box having a shape matching the shape of the bricks, and a plurality of discharge nozzles connected to the mortar extrusion chamber via a quick connector. The multi-faceted synchronous slurry squeezing mechanism also includes a multi-piston slurry squeezing power module for squeezing the slurry in the mortar extrusion chamber to the plurality of discharge nozzles, thereby providing stable pressure for slurry extrusion.

[0009] A visual device for identifying the position information of the robotic arm and bricks, as well as the position information of the slurry box;

[0010] The control module is used to plan the movement path of the robotic arm according to the posture information of the robotic arm and bricks and the position information of the slurry box, so that the robotic arm clamps the bricks and moves to the slurry box, and controls the multi-piston slurry squeezing power module to squeeze the mud, so that the mud is evenly squeezed out from multiple discharge nozzles at a specified pressure and smeared on the periphery of the brick, and then controls the robotic arm to transport the bricks to the specified position.

[0011] As a further preference, the squeeze box includes a plurality of round tubes, each of which is provided with a hole for installing the discharge nozzle, and each of the round tubes is connected to a corresponding quick connector.

[0012] As a further preferred embodiment, a flow pressure sensor and a valve are provided at the connection between the discharge nozzle and the circular tube. When the pressure value of the flow pressure sensor at the discharge nozzle reaches a preset value, the valve corresponding to the discharge nozzle opens.

[0013] As a further preference, a plurality of squeeze boxes are provided to adapt to different brick shapes.

[0014] As a further preferred embodiment, the multi-piston slurry squeezing power module includes a push plate arranged in the slurry extrusion chamber, one end of the push plate is connected to the push rod seat through a piston, and the multi-piston slurry squeezing power module also includes a rotating shaft, a torsion bar and a cylinder. The rotating shaft is rotatably arranged on the shaft seat, and the push rod seat and one end of the torsion bar are fixedly connected to the rotating shaft to form a force transmission rod structure. The power output end of the cylinder is connected to the torsion bar, and by driving the torsion bar to move, the push rod seat is driven to move, thereby driving the piston to drive the push plate to move forward and backward in a straight line.

[0015] As a further preferred embodiment, the invention further comprises an operating table, on which a fixing module for fixing the squeeze box is provided.

[0016] As a further preference, the fixing module includes a plate body arranged at the bottom of the pulping box and a C-shaped locking mechanism symmetrically arranged on both sides of the operating table. One end of the C-shaped locking mechanism is connected to the operating table with a hinge, and the other end is equipped with a hand-tightened screw nut assembly.

[0017] As a further preferred embodiment, a material cabin is further included, which is arranged above the mortar extrusion cabin and is connected to the mortar extrusion cabin through a pipeline provided with a valve.

[0018] According to another aspect of the present invention, a method for synchronously squeezing slurry from multiple surfaces of smart bricks is provided, comprising the following steps:

[0019] Step 1: The visual device obtains visual information of the robot arm holding the brick and plans the movement trajectory of the robot arm based on the visual information;

[0020] Step 2: The robot moves to the squeeze box according to the planned motion trajectory;

[0021] Step 3: The vision device obtains the actual point cloud data of the robot arm holding the brick at the current moment, and calculates the angle error and position error of the robot arm based on the desired posture;

[0022] Step 4: Compensate the joint angle and position of the robot arm based on the angle error and feature point position error, so that the robot arm can move to the desired position while holding the brick.

[0023] Step five: Control the multi-piston squeezing power module to squeeze the mud so that the mud is evenly squeezed out from multiple discharge nozzles at a specified pressure and smeared on the periphery of the bricks, and then control the robotic arm to transport the bricks to the specified position.

[0024] As a further preferred embodiment, the angle error calculation model includes:

[0025] Δθ i =R·mod(R·sign(P di ×P ci )α i ,2π),i=1,...,n

[0026] Where n is the number of angle features, α i =arccos((P ci ·P di ) / (|P ci ||P di |)) is the angle value of the straight line feature in its respective polar coordinate system, P di is the expected feature point position coordinate, P ci is the coordinate of the current feature point, sign(P di ×P ci ) is the angle error direction, R is the direction control parameter;

[0027] The position error includes:

[0028] e xi (t) = x ci (t)-x di ,i=1,...,n

[0029] e yi (t) = y ci (t)-y di ,i=1,...,n

[0030] In the formula, (x ci (t),y ci (t)) and (x di ,y di ), i=1,...,n are the current position and expected position of the feature point respectively, e xi (t), e yi (t) are the error of the feature point in the x-axis direction and the y-axis direction in the image coordinate system.

[0031] In general, the above technical solutions conceived by the present invention have the following technical advantages compared with the existing technology:

[0032] 1. The slurry box of the present invention is customized for the complex shape of coke oven bricks. Through the specially arranged tube body and discharge nozzle design, it can realize the simultaneous slurry squeezing of multiple sides of a brick, solving the problem that the traditional slurry squeezing method requires multiple operations to complete multi-side slurry squeezing, greatly improving the slurry squeezing efficiency and quality, and reducing construction time and labor costs.

[0033] 2. The present invention combines a visual system with a control system to accurately identify the shape and size of bricks, calculates the precise amount of mud extrusion corresponding to each discharge nozzle through a built-in optimization algorithm model, and uses a closed-loop control algorithm to monitor and adjust the mud extrusion pressure and flow in real time, ensuring that the mud is extruded on the brick surface with a uniform and stable flow and pressure, forming a mud layer with consistent thickness and reliable quality, which meets the stringent process requirements of coke oven masonry.

[0034] 3. The multi-piston slurry extrusion power mechanism of the present invention adopts a unique structural design, which efficiently converts the linear power of the cylinder or electric cylinder into the synchronous reciprocating motion of multiple pistons, ensuring stable and balanced pressure of mud extrusion, and can accurately control the mud extrusion volume, while improving power transmission efficiency and reducing energy loss.

[0035] 4. The various components of the present invention achieve a high degree of collaborative operation through the visual system and control system. The entire process from brick information collection, position adjustment, mud extrusion to completion of reset is automated and intelligently controlled. The various links work closely together to improve the intelligence level and operation accuracy of the system, reduce the impact of human factors, and improve construction quality and efficiency.

[0036] 5. This invention innovatively utilizes a multi-type visual sensor combination consisting of a binocular camera, a monocular camera, and a depth camera, equipped with a flexible mounting bracket and a powerful image processing unit. This vision system can capture comprehensive and highly accurate visual information of irregularly shaped bricks, accurately grasping both two-dimensional features and three-dimensional spatial structures. This provides unprecedentedly precise visual guidance for the entire slurry squeezing system, significantly improving the system's adaptability and operational precision for complex bricks.

[0037] 6. Aiming at the needs of coke oven head masonry, the present invention designs a modular slurry squeezing system consisting of multiple slurry squeezing boxes, which can intelligently identify and operate according to the brick laying sequence, improving the continuity and overall efficiency of the masonry. At the same time, it has flexibility and adaptability, and can be quickly adjusted according to different project requirements to meet diverse coke oven masonry scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Schematic elevation view of a multi-faceted synchronous slurry squeezing system for intelligent bricks according to an embodiment of the present invention;

[0039] Figure 2 Schematic diagram of a three-dimensional intelligent brick multi-faceted synchronous slurry squeezing system according to an embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram of the coke oven head masonry involved in an embodiment of the present invention;

[0041] Figure 4 Schematic diagram of the odd and even layers of the oven head portion of a coke oven involved in an embodiment of the present invention;

[0042] Figure 5 Schematic diagram of a modular squeezing box of a multi-sided synchronous squeezing system for intelligent bricks according to an embodiment of the present invention.

[0043] In all the drawings, the same reference numerals represent the same technical features, specifically: 1-mechanical arm, 2-visual device, 3-liftable bracket, 4-sponge suction cup, 6-discharge nozzle, 7-slurry box, 8-tube body, 9-plate body, 10-quick connector, 11-material chamber, 12-mortar extrusion chamber, 13-push plate, 14-piston, 15-multi-piston slurry extrusion power module, 16-push rod seat, 17-rotating shaft, 18-shaft seat, 19-torsion bar, 20-cylinder, 21-nut assembly, 22-C-type locking mechanism, 23-hinge, 24-pin shaft, 25-push rod, 26-coke oven head masonry, 27-brick, 28-operating table. DETAILED DESCRIPTION

[0044] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0045] like Figures 1 to 5As shown, an embodiment of the present invention provides an intelligent brick multi-faceted synchronous slurry squeezing system, comprising: a robotic arm 1 for clamping and transporting bricks 27; a multi-faceted synchronous slurry squeezing mechanism, comprising a slurry squeezing box 7, wherein the slurry squeezing box 7 is provided with a shape matching the shape of the brick 27, and the slurry squeezing box 7 is further provided with a plurality of discharge nozzles 6, wherein the discharge nozzles 6 are connected to the mortar extrusion chamber 12 through a quick connector 10, and the multi-faceted synchronous slurry squeezing mechanism further comprises a multi-piston slurry squeezing power module 15, wherein the multi-piston slurry squeezing power module 15 is used to squeeze the slurry in the mortar extrusion chamber 12 to the plurality of discharge nozzles 6, Provide stable pressure for mud extrusion; the visual device 2 is used to identify the posture information of the robot arm 1 and the brick 27 and the position information of the slurry box 7; the control module is used to plan the movement path of the robot arm 1 according to the posture information of the robot arm 1 and the brick 27 and the position information of the slurry box 7, so that the robot arm 1 clamps the brick 27 and moves to the slurry box 7, and controls the multi-piston slurry squeezing power module 15 to squeeze the mud, so that the mud is evenly squeezed out from multiple discharge nozzles 6 under a specified pressure and smeared on the periphery of the brick 27, and then controls the robot arm 1 to transport the brick 27 to the specified position.

[0046] Preferably, the squeeze box 7 includes a plurality of circular tubes, each of which is provided with a hole for mounting the discharge nozzle 6, and each of which is connected to a corresponding quick connector 10. More specifically, as a preferred solution of this embodiment, the plurality of circular tubes are arranged in parallel so that the upper surfaces of the plurality of circular tubes form an outer shape that is adapted to the outer shape of the brick.

[0047] Preferably, a flow pressure sensor and a valve are provided at the connection between the discharge nozzle 6 and the circular tube. When the pressure value of the flow pressure sensor at the discharge nozzle 6 reaches a preset value, the valve corresponding to the discharge nozzle 6 opens.

[0048] Preferably, a plurality of squeeze boxes 7 are provided to adapt to different shapes of bricks 27 .

[0049] Preferably, the multi-piston slurry squeezing power module 15 includes a push plate 13 arranged in the slurry extrusion chamber 12, one end of the push plate 13 is connected to the push rod seat 16 through the piston 14, and the multi-piston slurry squeezing power module 15 also includes a rotating shaft 17, a torsion bar 19 and a cylinder 20. The rotating shaft 17 is rotatably arranged on the shaft seat 18, and the push rod seat 16 and one end of the torsion bar 19 are fixedly connected to the rotating shaft 17 to form a force transmission rod structure. The power output end of the cylinder 20 is connected to the torsion bar 19, and by driving the torsion bar 19 to move, the push rod seat 16 is driven to move, thereby driving the piston 14 to drive the push plate 13 to move forward and backward in a straight line.

[0050] Preferably, the system further comprises an operating table 28, on which is provided a fixing module for fixing the squeeze box 7. The fixing module comprises a plate 9 provided at the bottom of the squeeze box 7 and C-shaped locking mechanisms 22 symmetrically provided on both sides of the operating table 28. One end of the C-shaped locking mechanism 22 is hingedly connected to the operating table 28, and the other end is provided with a hand-tightened screw and nut assembly.

[0051] Preferably, the system further comprises a material cabin 11, wherein the material cabin 11 is provided above the mortar extrusion cabin 12 and is connected to the mortar extrusion cabin 12 via a pipeline provided with a valve.

[0052] In one embodiment of the present invention, an intelligent multi-faceted synchronous brick squeezing system includes an operating console, a squeezing box, a mortar extrusion chamber, a material chamber, a multi-piston squeezing power mechanism, a vision system, and a control system. These components work closely together to achieve efficient and precise squeezing of bricks with specific shapes. These components automatically identify brick features and accurately squeeze multiple faces of a single brick simultaneously, resolving mortar placement challenges and improving masonry quality and efficiency.

[0053] The slurry extrusion box is custom-designed for the complex shape of coke oven bricks. Its structure features multiple carefully arranged tubes positioned at the locations on the brick where slurry needs to be extruded. Specifically, a single tube covers the bottom and a 90-degree bend on the side of the brick, while multiple rows of tubes completely cover the entire mortar-covered surface of the brick. Discharge nozzles are evenly distributed along the circular tubes, where the mortar is applied. These nozzles utilize a unique tapered design to ensure uniform slurry flow under a certain pressure, ensuring consistent and stable initial application of the slurry to the brick surface. The nozzle aperture is precisely calculated and experimentally determined based on the slurry viscosity and the desired coating thickness, ensuring the discharge volume and flow rate meet the coating process requirements. The nozzles also maintain an appropriate distance from the bottom and sides of the brick, such as 5-10 mm. The multiple tubes are sealed at one end and connected to the mortar extrusion chamber via quick connectors at the other end.

[0054] The squeeze box has a plate extending outward from its bottom and rests on the operating table. C-shaped locking mechanisms are symmetrically mounted on either side of the table. One end of the C-shaped locking mechanism is connected to the operating table with a hinge, allowing for flexible opening and closing. The other end features a hand-tightened screw and nut assembly. Once the squeeze box is in place, the screw is manually rotated to force the C-shaped locking mechanism to tightly grip the bottom plate of the squeeze box, securing it securely to the operating table. This ensures the squeeze box remains stable and prevents displacement during the squeeze operation, ensuring accurate and safe slurry extrusion.

[0055] The mortar extrusion cabin has a rectangular cabin structure. One side is equipped with an extrusion pipe which is connected to the multiple rows of tubes of the slurry box through a quick connector, which is used to transport mud to the slurry box. The other side is equipped with a multi-piston slurry extrusion power mechanism. The piston end of the power mechanism is integrally connected to a push plate with a cross-section matching the compression chamber. It relies on a cylinder or an electric cylinder to complete the reciprocating push-pull action, thereby providing stable pressure for mud extrusion, meeting the requirements of complex masonry technology for precise control of mud supply extrusion volume and pressure.

[0056] The material tank has a trapezoidal funnel structure and is connected to the top surface of the mortar extrusion chamber. To facilitate cleaning, an installation connection method can be adopted, and a sealing gasket is provided between the material tank and the mortar extrusion chamber.

[0057] The multi-piston slurry extrusion power module consists of a shaft seat, a rotating shaft, a push rod seat, a piston push rod assembly, a torsion bar, and a cylinder (electric cylinder). Two shaft seats are spaced parallel to each other on the top surface of the panel, with the rotating shaft mounted on the two shaft seats. One end of the torsion bar is annular and fits over the middle of the rotating shaft, while the other end is pin-connected to the telescopic rod of the cylinder (electric cylinder). The cylinder (electric cylinder) is fixed to the middle of the bottom surface of the panel. Push rod seats are located at both ends of the rotating shaft. The piston push rod assembly includes a shaft body mounted on the two push rod seats and multiple push rods spaced evenly parallel to the shaft body. The other end of each push rod is hinged to a piston via a pin. During operation, the cylinder (electric cylinder) pushes the torsion bar, driving the rotating shaft to rotate, causing the multiple push rods to drive the pistons to reciprocate, thereby achieving slurry extrusion. This structural design efficiently converts the linear power of the cylinder (electric cylinder) into the synchronous reciprocating motion of multiple pistons, ensuring stable and balanced slurry extrusion pressure and precisely controlling the amount of slurry extruded.

[0058] The visual device, comprised of an adjustable mounting bracket, multiple visual sensors, and an image processing unit, is designed to provide accurate and comprehensive visual information about irregular-shaped bricks for the entire intelligent multi-faceted synchronous brick squeezing system. This provides effective visual guidance for the robotic arm and squeezing system, ensuring precise operation at every stage. This vision system, independent of the masonry robot's visual navigation system, is specifically designed for precise operation of the squeezing system, such as locating and aligning the squeezing box. It works in conjunction with the masonry robot's own visual navigation system, which controls the robot's position from origin to the masonry position, to enhance system intelligence and operational precision.

[0059] Different types of visual sensors can be flexibly selected according to actual needs. These sensors each have unique advantages and can specifically meet the requirements of obtaining visual information of special-shaped bricks to achieve precise guidance of the robotic arm and slurry squeezing system.

[0060] For example, a binocular vision camera can be used. Based on the principle of triangulation, two cameras simultaneously capture irregularly shaped bricks from different angles, generating parallax-matched image pairs. Using specialized image matching and depth calculation algorithms, the system accurately reconstructs the brick's 3D geometry and clearly extracts its contour information, including detailed geometric features, angular relationships between facets, and the locations of key feature points. This data provides critical foundation for subsequent spatial positioning and posture analysis, helping to precisely determine key parameters such as the brick's displacement and rotation angle in 3D space. This guides the robotic arm to accurately grasp the brick and lays the foundation for precise positioning and adaptability of the squeeze box, ensuring precise alignment of the discharge nozzle with the brick mortar application surface. A monocular vision camera is also an option. Leveraging its efficient image processing capabilities, combined with a pre-stored library of irregular-shaped brick models and relevant prior knowledge, it uses feature extraction and shape matching to quickly identify the brick's approximate type, shape, and position within the 2D plane. In scenarios with relatively moderate precision requirements, such as the brick loading stage, a monocular camera can be used as an auxiliary tool to initially screen and roughly locate bricks within the work area, improving overall system efficiency, narrowing the target range for subsequent, more precise visual measurement, and optimizing the overall allocation of computing resources and processing flow. Depth cameras can also be configured on demand. They directly acquire depth information from the surface of irregularly shaped bricks, generating depth images or point cloud data, complementing the limitations of simple 2D images in capturing spatial structure. This depth information is integrated with 2D image data captured by binocular and monocular cameras (if configured) to further enhance the system's understanding of the brick's 3D structure, enabling a more precise understanding of surface irregularities, edge layering, and spatial relationships between components. This provides more detailed data support for precise contour extraction, point division, and shape analysis, particularly when processing irregularly shaped bricks with complex curves or irregular indentations. This ensures that the slurry extrusion system can adapt to the actual surface conditions of the bricks, ensuring uniform and precise slurry application. When actually building a vision system, it is not necessary to integrate all types of vision sensors. Instead, based on comprehensive considerations of factors such as the specific coke oven masonry project requirements, cost budget, and accuracy requirements, the most suitable combination of one or several vision sensors should be selected to achieve the best visual guidance effect and ensure stable and efficient operation of the system.

[0061] As the core data processing module of the vision system, the image processing unit is responsible for fusing, processing, analyzing, and extracting key information from the image data collected by various visual sensors. It integrates data from various visual sensors, applying advanced algorithms to remove noise, enhance image clarity, and accurately identify key features of bricks. By deeply mining this data, it provides the control system with precise and real-time visual feedback, such as the brick's real-time position, posture, and detailed shape. This information enables the control system to make accurate decisions and coordinate the smooth operation of various components.

[0062] The control system is responsible for data acquisition and processing: it receives information such as brick shape and size from the masonry robot's vision system, while also collecting information such as pressure data from the mortar pressure device and the operating status of the slurry box. Based on this large amount of data, a built-in optimization algorithm model is used to perform complex mathematical calculations and logical judgments. First, by analyzing the brick size and shape data, the various surfaces of the brick that require slurry coating, as well as the area and shape characteristics of each surface, are determined. Then, based on this information and the preset slurry distribution rules, the optimal movement distance of the slurry surface in each direction and the precise amount of slurry extruded for each slurry mesh are calculated. Detailed control instructions are generated, providing accurate parameter basis for subsequent slurry extrusion operations.

[0063] Equipment coordination and control: Based on calculated parameters, the system sends pressure control instructions to the mortar pressure device, slurry squeeze instructions to the slurry squeeze box, and motion instructions to the masonry robot, ensuring coordinated operation between all components. Throughout the entire operation, the control system monitors the operating status of each component in real time. If any anomalies are detected, fault diagnosis and emergency response are carried out promptly to ensure smooth construction.

[0064] The masonry robot is equipped with a high-precision vision system, which controls visual navigation from the robot's origin to the masonry position. The robot precisely hovers bricks in the grouting box. Its vision system captures high-precision brick shape data and motion control-related information in real time and transmits it to the control system. This provides comprehensive and precise visual guidance for actuators such as the robotic arm, grouting device, and multi-dimensional position precision adjustment mechanism, ensuring accurate placement of bricks in the pre-determined positions within the grouting box and maintaining stability during the grouting process. Throughout the masonry process, the robot closely collaborates with the grouting system. Once grouting is complete, the robot quickly removes the finished bricks and, based on control system instructions, quickly and accurately returns the grouting box to its original position, ready for the next grouting operation. This ensures an automated, efficient cycle. The robot's visual navigation system works in tandem with the grouting system's vision system to complete the entire process, from brick extraction to grouting within the grouting box and finally to masonry.

[0065] More specifically, a modular slurry squeezing system consisting of multiple squeezing boxes was designed to take into account the complexity and continuity of the coke oven head masonry. These squeezing boxes are arranged and combined according to the brick laying sequence, and each squeezing box is designed to meet the brick and mortar laying requirements of a specific location.

[0066] The vision system can accurately identify the position and status of each slurry box based on the laying sequence and transmit this information to the control system in real time. Based on the information received, the control system coordinates the various components to orderly deliver slurry to each slurry box and drive the slurry squeezing action, ensuring that the entire furnace head is laid efficiently and accurately. For example, when starting to lay the first brick of an odd-numbered layer, the vision system quickly locates the corresponding slurry box, and the control system instructs the relevant components to start, providing the appropriate slurry pressure and flow for the slurry box to complete the slurry squeezing operation for this brick; then, when laying the second brick, the system switches to the corresponding slurry box with the same precision, and so on, until the bricks of the entire furnace head are squeezed and laid with high quality.

[0067] In this modular squeezing system, the spacing and layout between the squeeze boxes have been optimized to ensure that the robotic arm can smoothly grasp bricks and place them on the corresponding squeeze box for squeezing operations, while also facilitating the connection and maintenance of the slurry supply pipelines. Furthermore, sufficient space is reserved for the vision system to provide comprehensive monitoring of the entire operating area. Furthermore, to enhance the system's flexibility and adaptability, the modular squeezing system can be quickly disassembled, reassembled, and debugged according to the design requirements of different coke oven heads and brick specifications, meeting diverse engineering needs.

[0068] According to another aspect of the present invention, based on any one of the above embodiments or a combination of multiple embodiments, the system implements a method for synchronously squeezing slurry on multiple surfaces of smart bricks, including:

[0069] (1) Startup and initialization

[0070] The moment the device is powered on, each component automatically begins self-tests and preparations. The masonry robot extends its arm and moves its joints, while the vision system calibrates its lens and initializes its data. The slurry box checks pipe connections and the unobstructed discharge spout. The mortar pressure device tests the expansion and contraction performance of its cylinders (electric cylinders) and calibrates its pressure sensors. The control system loads pre-set algorithm models and parameter settings, prepares to receive the massive amounts of data from the vision system, and initiates subsequent complex computational control to ensure optimal initial operation.

[0071] (2) Brick information collection and transmission

[0072] After the masonry robot's vision system is started, it conducts high-precision scanning of the bricks to obtain the length, width, height and dimensions of each surface of the bricks. It uses three-dimensional scanning or multi-view image reconstruction algorithms to accurately outline the complex shapes of the bricks, and transmits the unique brick data to the control system in real time, providing a key basis for precise control.

[0073] (3) Data processing and decision-making calculation

[0074] Upon receiving the brick information, the control system immediately activates its built-in optimization algorithm. This model, based on a vast amount of pre-stored data on the relationships between different brick sizes and shapes and slurry extrusion parameters (accumulated from past experience and extensive experiments), combines the current masonry process requirements (process "principles") with slurry properties (such as viscosity and fluidity), and generates detailed control instructions to precisely guide the slurry extrusion operation.

[0075] (4) Brick position adjustment and positioning

[0076] Based on the previously precisely calculated distance and position of the slurry extrusion surface, the control system sends control signals to the masonry robot. Upon receiving these signals, the robot finely adjusts its arm position, extracts the brick, and hovers in the slurry extrusion box, ensuring precise alignment between the slurry extrusion box's discharge nozzle and the brick's slurry application surface. During this movement, the robot continuously feeds its current position information to the control system, which makes real-time adjustments based on this feedback, ensuring millimeter-level positioning accuracy between the brick and the slurry extrusion box, laying a solid foundation for precise slurry extrusion.

[0077] (5) Mud extrusion and flow control

[0078] After the bricks are precisely positioned and confirmed, the control system sends an extrusion instruction to the mortar pressure device to start the mud extrusion process. The mortar pressure device drives the piston to push the mud to be stably extruded through the pipe body and the discharge nozzle. At the same time, the control system sends a pressure control instruction to the mortar pressure device based on the pre-calculated mud extrusion volume of each extrusion mesh. By adjusting the parameters of the cylinder (electric cylinder), the flow of mud from the mortar extrusion chamber to the discharge nozzle is finely controlled to ensure that the mud is extruded on the surface of the brick with a uniform and stable flow rate and pressure, forming a mud layer with consistent thickness and reliable quality, which meets the rigorous process of coke oven masonry. During the extrusion process, the control system monitors the actual pressure of the mortar pressure device and the mud extrusion flow in real time, and dynamically adjusts the pressure and flow with the help of a closed-loop control algorithm (intelligent automatic error correction mechanism) to ensure that the mud extrusion volume is accurately controlled at the milliliter / second level, maintain a uniform and stable mud layer, and ensure high-quality mud laying.

[0079] (6) Completion and Reset

[0080] When the slurry is laid on the surface of the brick, the control system will promptly issue a stop-slurry squeezing command based on the preset completion conditions (such as the slurry laying area meeting the standard, the extrusion volume meeting the calculated value, etc.), and the mortar pressure device will stop working. Subsequently, the control system will drive the masonry robot again to remove the bricks that have been squeezed, and quickly and accurately move the squeezing box back to its initial position, making full preparations for the next slurry laying operation and ensuring the efficient and continuous masonry process. During the reset process, the robot will provide real-time feedback on its position to the control system, which will monitor and adjust to ensure the accurate return of the squeezing box, helping the next round of operations to start smoothly and maintaining the smooth and stable operation of the entire masonry process.

[0081] (7) Pipeline cleaning

[0082] After the operation is completed, the C-shaped locking mechanism on the console stabilizes the squeeze box, creating conditions for subsequent cleaning of multiple rows of pipes, effectively preventing residual mud from clogging the pipes and ensuring smooth flow for the next operation. Cleaning methods can be selected according to actual needs, such as high-pressure gas purging, which uses a strong airflow to forcefully remove residual mud in the pipes, or solvent flushing, which uses the solvent's dissolving properties to remove stubborn mud stains.

[0083] In summary, the working method of the system of the present invention includes:

[0084] Step 1: The visual device 2 obtains visual information of the robot arm 1 holding the brick 27 and plans the motion trajectory of the robot arm 1 based on the visual information;

[0085] Step 2: The robot arm 1 moves to the squeeze box 7 according to the planned motion trajectory;

[0086] Step 3: The visual device 2 obtains the actual point cloud data of the robot arm 1 holding the brick 27 at the current moment, and calculates the angle error and position error of the robot arm 1 according to the desired posture;

[0087] In this step, the feature coordinates of four non-collinear points on the brick in the image are randomly selected to construct the line angle feature. The angle error value is calculated based on the line angle features in the expected image and the current actual image. More specifically, the four feature points are connected in sequence to form a quadrilateral, and the line on which the edge of the quadrilateral lies is used as the line feature to control the posture. The foot of the perpendicular line through the origin is used as the vertical line P. i =(x Pi ,y Pi )'s polar coordinates [ρ i ,θ i ] T To parameterize the line feature, where x Pi is the x-direction coordinate of the foot of the perpendicular in the Cartesian coordinate system, y Pi is the y-direction coordinate of the foot of the perpendicular in the Cartesian coordinate system, ρ i P i Distance to the origin, θi P i The angle between the vector and the x-axis of the image coordinate system. i ,θ i ) is used as the servo variable, and the relationship between the linear angle feature change speed and the camera angular velocity is constructed as follows:

[0088]

[0089] Where, is the angle change rate, ω c is the angular velocity of the camera.

[0090] Preferably, the angle error calculation model includes:

[0091] Δθ i =R·mod(R·sign(P di ×P ci )α i ,2π),i=1,...,n

[0092] Where n is the number of angle features, α i =arccos((P ci ·P di ) / (|P ci ||P di |)) is the angle value of the straight line feature in its respective polar coordinate system, P di is the expected feature point position coordinate, P ci is the coordinate of the current feature point, sign(P di ×P ci ) is the angle error direction, R is the direction control parameter;

[0093] The position error includes:

[0094] e xi (t) = x ci (t)-x di ,i=1,...,n

[0095] e yi (t) = y ci (t)-y di ,i=1,...,n

[0096] In the formula, (x ci (t),y ci (t)) and (x di ,y di ), i=1,...,n are the current position and expected position of the feature point respectively, e xi (t), e yi(t) are the error of the feature point in the x-axis direction and the y-axis direction in the image coordinate system.

[0097] In this step, the actual image of the robot at the current moment is collected, and the angular error and feature point position error of the robot are calculated based on the expected image and the actual image of the robot. Based on the angular error, the straight line feature is used to control the posture of the robot. At the same time, dynamic error mapping is performed based on the feature point position error. According to the mapping relationship, the feature point position change caused by the posture movement is compensated, and then the robot joint speed is updated according to the posture error. More specifically, in this solution, a straight line angle feature is constructed based on the point cloud data of the robot or the discharge port obtained by the visual device, and the angle error value is calculated based on the straight line angle feature in the expected image and the current actual image. More specifically, the four feature points are connected in sequence to form a quadrilateral, and the straight line where the edge of the quadrilateral is located is used as the straight line feature for controlling the posture. More specifically, the four feature points are connected in sequence to form a quadrilateral, and the straight line where the edge of the quadrilateral is located is used as the straight line feature for controlling the posture; the foot of the perpendicular line through the origin P of the straight line is used. i =(x Pi ,y Pi )'s polar coordinates [ρ i ,θ i ] T To parameterize the line feature, where x Pi is the x-direction coordinate of the foot of the perpendicular in the Cartesian coordinate system, y Pi is the y-direction coordinate of the foot of the perpendicular in the Cartesian coordinate system, ρ i P i Distance to the origin, θ i P i The angle between the vector and the x-axis of the image coordinate system; the polar coordinate corresponding to the perpendicular foot (ρ i ,θ i ) is used as the servo variable, and the relationship between the linear angle feature change speed and the camera angular velocity is constructed as follows:

[0098]

[0099] Where, is the angle change rate, ω c is the angular velocity of the camera.

[0100] In the above steps, it is necessary to use a visual device to take pictures of the four point features to obtain a desired image and obtain the coordinates of the point features in the image coordinate system through an image processing algorithm.

[0101] The straight line where the four feature points are connected to form the edge of the quadrilateral is used as the straight line feature to control the posture. The foot of the perpendicular line through the origin is used as the foot of the perpendicular line P. i =(x Pi ,y Pi)'s polar coordinates [ρ i ,θ i ] T To parameterize the straight line feature. According to the geometric properties of the perpendicular line, it can be calculated

[0102]

[0103] The polar coordinates corresponding to the foot of the perpendicular (ρ i ,θ i ) as the servo variable, ρ i P i Distance to the origin, θ i P i The angle between the vector and the x-axis of the image coordinate system is calculated as follows:

[0104]

[0105] When the camera optical axis is approximately perpendicular to the plane where the straight line feature is located, the relationship between the camera angular velocity and the angular change rate of the straight line feature is:

[0106]

[0107] θ i This is the angle characteristic of the straight line. i When expressing the polar coordinates of the characteristic angle of a straight line, the respective polar axes are established by connecting the foot of the perpendicular to the imaging plane at the desired position.

[0108] Based on the above scheme, after obtaining the angle error and position error, a forward kinematic model of the robot is established to convert the joint angles into the position and posture of the end effector. The Denavit-Hartenberg (DH) parameter method is used to define the parameters of each joint and link of the robot. The position and posture of the end effector are calculated using the rotation transformation matrix and the translation transformation matrix. According to the Newton-Euler equation, an inverse dynamics model of the robot is established to calculate the torque required to drive the joint motor. Considering factors such as the robot's inertia, centrifugal force, Coriolis force, and gravity, the formula is as follows:

[0109]

[0110] Among them, τ is the joint torque vector, M(q) is the inertia matrix, which is related to the joint angle vector q. are the centrifugal force and Coriolis force terms, and the joint angle vector q and joint velocity vector G(q) is the gravity term, which is related to the joint angle vector q.

[0111] Based on the above scheme, in this embodiment, a real-time data interaction channel is established between the robot posture control system and the mud adjustment system, so that the two subsystems can share information, such as the position and angle deviation of the robot end, the flow rate and pressure deviation of the mud, etc. The adaptive dynamic programming (ADP) control algorithm is used to integrate the control of the robot posture and mud parameters. The ADP algorithm can adaptively adjust the control strategy by learning the system dynamics online to cope with the uncertainty in complex environments. A unified controller is constructed using a neural network, the input of which includes posture error and mud parameter error, and the output is the drive signal of the joint motor and the control signal of the mud adjustment device. The neural network optimizes the control effect by continuously learning and adjusting the weights. A unified optimization control model is established, with the robot posture and mud parameters as control variables, and the flatness, density and bonding strength of the bricks as the objective function. The optimal control strategy is obtained by solving the optimization problem.

[0112] The control strategy is as follows:

[0113] Hierarchical control strategy: Implement a hierarchical control strategy, with the top layer responsible for overall planning and coordination, the middle layer responsible for the integrated control of posture control and mud regulation, and the bottom layer responsible for the specific actuator drive.

[0114] Real-time feedback adjustment: During the control process, the feedback information of posture and mud parameters is monitored in real time, and the control strategy is adjusted in time according to the deviation to ensure the stability and adaptability of the system.

[0115] Specifically, an evaluation network and a strategy network are designed to evaluate the quality of the current control strategy and generate a control strategy, respectively. The network is continuously trained through real-time data, and the network weights and biases are updated to adapt to changes in the environment. The input layer of the neural network is defined as the posture error and the mud parameter error, and the output layer is defined as the drive signal of the joint motor and the control signal of the mud regulating device. The neural network is trained using historical data and real-time data, and an optimization algorithm (such as the gradient descent method) is used to minimize the error. The objective function is clarified, such as the flatness and density of the bricks and the bonding strength of the mud, and these indicators are quantified into computable mathematical expressions. The constraints of the control variables are set, such as the limits of joint angles and speeds, the range of mud flow and pressure, etc. Optimization algorithms (such as particle swarm optimization algorithms, genetic algorithms, etc.) are used to solve the optimization problem and obtain the optimal control strategy.

[0116] Step 4: Compensate the joint angle and position of the robot arm 1 according to the angle error and the feature point position error, so that the robot arm 1 can move to the desired position while holding the brick 27.

[0117] Step five, control the multi-piston squeezing power module 15 to squeeze the mud, so that the mud is evenly squeezed out from the multiple discharge nozzles 6 at a specified pressure and smeared on the periphery of the brick 27, and then control the robot arm 1 to transport the brick 27 to the specified position.

[0118] In this step, a flow pressure sensor and a valve are provided at the connection between the discharge nozzle 6 and the circular tube. When the pressure value of the flow pressure sensor at the discharge nozzle 6 reaches a preset value, the valve corresponding to the discharge nozzle 6 opens. In this embodiment, a main control pressure sensor is provided and placed at the starting end of the circular tube or a key reference position. This main control pressure sensor is used to monitor the basic pressure of the entire circular tube system and use it as a reference pressure signal. The flow pressure sensor at each discharge nozzle is data-connected to the main control pressure sensor. The data from these sensors is comprehensively processed by a control module. The control module calculates the pressure deviation of each discharge nozzle relative to the reference pressure based on the reference pressure of the main control pressure sensor and the real-time pressure at each discharge nozzle. Each discharge nozzle valve is equipped with an adjustable valve drive device, such as an electric valve or a servo valve, so that it can accurately adjust the valve opening according to the instructions of the controller. The control module adjusts the corresponding valve opening in real time based on the calculated pressure deviation of each discharge nozzle. For example, if the pressure of a certain discharge nozzle is lower than the preset reference pressure, the main control unit sends a signal to the valve drive device of the discharge nozzle to increase the valve opening, thereby increasing the slurry squeezing pressure at the discharge nozzle; conversely, if the pressure is too high, the valve opening is reduced. The proportional-integral-differential (PID) control algorithm can be used to accurately adjust the valve opening. The PID control algorithm can dynamically determine the adjustment amount of the valve opening based on factors such as the size of the pressure deviation, the speed of the deviation change, and the duration of the deviation, so as to quickly and stably make the pressure of each discharge nozzle consistent. In a preferred embodiment, a pressure equalization monitoring module is set up to periodically monitor the pressure of all discharge nozzles. This module can perform a comprehensive scan of the pressure of each discharge nozzle at regular intervals (such as 1 second or 5 seconds). When it is found that the pressure of a certain discharge nozzle is inconsistent with the pressure of other discharge nozzles and exceeds the preset allowable error range, the pressure adjustment program is immediately triggered. For example, if the allowable error range is set to ±0.05MPa, and the pressure of a certain discharge nozzle differs from the average pressure by more than this range, the valve opening of the discharge nozzle is adjusted in time until its pressure returns to the allowable error range. In another preferred embodiment, multiple pressure control areas are set on the circular tube, and each area contains several discharge nozzles. Each area is equipped with a regional pressure controller, and these regional pressure controllers are connected to the control module. The control module distributes the overall pressure control strategy to each regional pressure controller, and the regional pressure controller performs more precise control of the discharge nozzle pressure in this area. At the same time, in order to improve the reliability of the system, redundant backups can be set in the pressure sensor and valve control circuit of each discharge nozzle.For example, by adopting a dual-sensor configuration, when one sensor fails or the data is abnormal, the other sensor can take over in time to ensure the continuity of pressure monitoring; for valve control, redundant drive circuits can also be used to ensure that the valve can be opened and closed normally, thereby maintaining the consistency of the slurry squeezing pressure of each discharge nozzle.

[0119] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent brick multi-faceted synchronous slurry squeezing system, characterized in that: include: A robotic arm (1) for gripping and transporting bricks (27); A multi-faceted synchronous slurry squeezing mechanism comprises a slurry squeezing box (7), wherein the slurry squeezing box (7) is provided with a shape matching the shape of the brick (27), and the slurry squeezing box (7) is also provided with a plurality of discharge nozzles (6), wherein the discharge nozzles (6) are connected to the mortar extrusion chamber (12) via a quick connector (10), and the multi-faceted synchronous slurry squeezing mechanism further comprises a multi-piston slurry squeezing power module (15), wherein the multi-piston slurry squeezing power module (15) is used to squeeze the slurry in the mortar extrusion chamber (12) to the plurality of discharge nozzles (6), thereby providing stable pressure for slurry extrusion; A visual device (2) for identifying the position information of the robot arm (1) and the brick (27) and the position information of the slurry box (7); The control module is used to plan the movement path of the robot arm (1) according to the posture information of the robot arm (1) and the brick (27) and the position information of the slurry box (7), so that the robot arm (1) clamps the brick (27) and moves to the slurry box (7), and controls the multi-piston slurry squeezing power module (15) to squeeze the mud, so that the mud is evenly squeezed out from the multiple discharge nozzles (6) at a specified pressure and spread on the periphery of the brick (27), and then controls the robot arm (1) to transport the brick (27) to a specified position.

2. The intelligent brick multi-faceted synchronous slurry squeezing system according to claim 1 is characterized in that: The squeezing box (7) comprises a plurality of circular tubes, each of which is provided with a hole for installing the discharge nozzle (6), and each of which is connected to a corresponding quick connector (10).

3. The intelligent brick multi-faceted synchronous slurry squeezing system according to claim 2 is characterized in that: A flow pressure sensor and a valve are provided at the connection between the discharge nozzle (6) and the circular pipe. When the pressure value of the flow pressure sensor at the discharge nozzle (6) reaches a preset value, the valve corresponding to the discharge nozzle (6) opens.

4. The intelligent brick multi-faceted synchronous slurry squeezing system according to any one of claims 1 to 3, characterized in that: The squeeze boxes (7) are provided in plurality to adapt to different brick (27) shapes.

5. The intelligent brick multi-faceted synchronous slurry squeezing system according to any one of claims 1 to 4, characterized in that: The multi-piston slurry squeezing power module (15) includes a push plate (13) arranged in the slurry extrusion chamber (12), one end of the push plate (13) is connected to the push rod seat (16) through the piston (14), and the multi-piston slurry squeezing power module (15) also includes a rotating shaft (17), a torsion bar (19) and a cylinder (20), the rotating shaft (17) is rotatably arranged on the shaft seat (18), and one end of the push rod seat (16) and the torsion bar (19) are fixedly connected to the rotating shaft (17) to form a force transmission rod structure, and the power output end of the cylinder (20) is connected to the torsion bar (19), and by driving the torsion bar (19) to move, the push rod seat (16) is driven to move, thereby driving the piston (14) to drive the push plate (13) to move forward and backward in a straight line.

6. The intelligent brick multi-faceted synchronous slurry squeezing system according to any one of claims 1 to 5, characterized in that: It also comprises an operating table (28), on which a fixing module for fixing the squeeze box (7) is provided.

7. The intelligent brick multi-faceted synchronous slurry squeezing system according to claim 6 is characterized in that: The fixing module comprises a plate body (9) arranged at the bottom of the squeeze box (7) and a C-shaped locking mechanism (22) symmetrically arranged on both sides of the operating table (28). One end of the C-shaped locking mechanism (22) is connected to the operating table (28) by a hinge, and the other end is equipped with a hand-tightened screw nut assembly.

8. The intelligent brick multi-faceted synchronous slurry squeezing system according to any one of claims 1 to 7, characterized in that: It also includes a material cabin (11), which is arranged above the mortar extrusion cabin (12) and connected to the mortar extrusion cabin (12) through a pipeline provided with a valve.

9. A method for synchronously squeezing slurry from multiple surfaces of intelligent bricks, characterized in that: The following steps are involved: Step 1: The visual device (2) obtains visual information of the robot arm (1) holding the brick (27), and plans the motion trajectory of the robot arm (1) based on the visual information; Step 2: The robot arm (1) moves to the squeeze box (7) according to the planned motion trajectory; Step 3: The visual device (2) obtains the actual point cloud data of the brick (27) held by the robot arm (1) at the current moment, and calculates the angle error and position error of the robot arm (1) according to the desired posture; Step 4: Compensate the joint angle and position of the robot arm (1) according to the angle error and the feature point position error, so that the robot arm (1) moves to the desired position when holding the brick (27); Step 5: Control the multi-piston squeezing power module (15) to squeeze the mud so that the mud is evenly squeezed out from the multiple discharge nozzles (6) at a specified pressure and smeared on the periphery of the brick (27), and then control the robot arm (1) to transfer the brick (27) to the specified position.

10. The method for synchronously squeezing mortar on multiple surfaces of smart bricks according to claim 9, characterized in that: The angle error calculation model includes: Dth i =R·mod(R·sign(P di ×P ci )a i ,2π),i=1,...,n Where n is the number of angle features, α i =arccos((P ci ·P di ) / (|P ci ||P di |)) is the angle value of the straight line feature in its respective polar coordinate system, P di is the expected feature point position coordinate, P ci is the coordinate of the current feature point, sign(P di ×P ci ) is the angle error direction, R is the direction control parameter; The position error includes: e xi (t)=x ci (t)-x di ,i=1,...,n e yi (t)=y ci (t)-y di ,i=1,...,n In the formula, (x ci (t),y ci (t)) and (x di ,y di ), i=1,...,n are the current position and expected position of the feature point respectively, e xi (t), e yi (t) are the error of the feature point in the x-axis direction and the y-axis direction in the image coordinate system.

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