An intelligent stone paving robot suitable for intercity stations

Abstract

An intelligent stone paving robot suitable for intercity railway stations includes a power system, a mobility system, a paving execution system, a perception and positioning system, a human-machine collaboration system, and an intelligent control system. The power system provides stable and controllable power output to the mobility system, paving execution system, perception and positioning system, human-machine collaboration system, and intelligent control system. The mobility system enables the robot to move flexibly in the complex working environment of intercity railway stations to reach the paving work area. The paving execution system completes the work process of grasping stone, spreading mortar, and precisely paving. The perception and positioning system enables the positioning of the work area and environmental perception. The human-machine collaboration system enables efficient linkage between machine pre-laying positioning and manual fine-laying guidance. The intelligent control system coordinates the collaborative operation of all systems and integrates BIM technology to achieve advance simulation and optimization of the paving path. This invention can fully meet the stone paving needs of complex scenarios in intercity railway stations.

Description

Technical Field

[0001] This invention belongs to the field of building decoration and construction technology, specifically relating to an intelligent stone paving robot suitable for intercity stations. Background Technology

[0002] Currently, stone paving is widely used in interior decoration; however, traditional manual paving or simple equipment paving methods have revealed significant shortcomings in intercity station scenarios. Firstly, intercity railway stations often require the paving of large-sized, heavy stone or granite (such as 900×900mm / 50kg granite). However, existing paving robot clamps for interior decoration are mostly designed for 800×800mm / 20kg stone. Simply enlarging the size of the clamps can easily lead to uneven weight distribution, insufficient anti-slip properties, and structural deformation, resulting in uncontrollable shaking and low installation accuracy when paving large-sized materials. Secondly, intercity railway stations are large spaces with pedestrian traffic and complex pipelines. Existing paving equipment lacks the fusion application of LiDAR and visual image matching, making it difficult to adapt to the characteristics of the scene and achieve accurate positioning. Thirdly, the coordination between traditional robot paving and manual grouting is poor. There is no full-process data linkage between machine pre-laying positioning, manual fine-laying guidance, and closed-loop quality inspection, which limits the efficiency and quality of corner paving. Fourthly, the fixed mortar width of traditional paving heads makes it difficult to adapt to the paving needs of different stone sizes from 600-1200mm, resulting in insufficient equipment versatility.

[0003] The patent with publication number CN116696014A describes a tile-laying robot. However, this robot is primarily used for laying 800×800mm tiles with a weight limit of 20kg per tile. For intercity rail transit, the site typically uses granite, which is 900×900mm in size and weighs 50kg per tile. Therefore, this patented robot only offers a fixed selection, and its suitability requires on-site investigation. Furthermore, the robot's calibration and adjustment of the tile positions before construction is time-consuming, and the finishing at the edges is uneven, necessitating manual laying at corners.

[0004] In the construction of intercity railway stations, due to the complex spatial layout and high precision requirements, traditional paving methods not only have long construction cycles and low efficiency in the coordination of various processes, but also easily affect the progress of subsequent projects and increase the risk of delays due to insufficient paving precision. Therefore, developing intelligent stone paving equipment and collaborative construction methods adapted to the intercity railway station scenario has become a key path to overcome the bottlenecks in efficiency and quality of stone paving in intercity railway stations. Summary of the Invention

[0005] To overcome the above technical problems, the purpose of this invention is to provide an intelligent stone paving robot suitable for intercity stations, which has the characteristics of stable support for large-sized materials, accurate scene positioning, high efficiency of human-machine collaboration, and strong adaptability of paving head, and can fully meet the stone paving needs of complex scenes in intercity stations.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An intelligent stone paving robot suitable for intercity stations includes a power system, a mobility system, a paving execution system, a perception and positioning system, a human-machine collaboration system, and an intelligent control system. The power system provides stable and controllable power output for the mobile system, paving execution system, sensing and positioning system, human-machine collaboration system, and intelligent control system; The mobile system is used to enable the robot to move flexibly in the complex working environment of intercity stations and reach the paving work area; The paving execution system is used to complete the work process of grabbing the stone, spreading the mortar, and paving precisely; it is suitable for paving needs of different specifications of stone from 600-1200mm. The sensing and positioning system is used to achieve positioning of the work area and environmental perception. The human-machine collaborative system is used to achieve efficient linkage between machine pre-laying positioning and manual fine-laying guidance. It forms a closed-loop data process through laser marking, parameter push, and image detection, thereby improving the paving quality and efficiency in complex areas such as corners. The intelligent control system is used to coordinate the collaborative operation of various systems and integrates BIM technology to realize the advance simulation and optimization of the tiling path.

[0007] The power system includes an internal pump body, a conveying pipe, a material conveying mechanism component 6, and a material conveying mechanism top cover 7, providing stable and controllable power output for the mobile system, the paving execution system, the perception and positioning system, and the human-machine collaborative system. The robot's internal pump is the power core. The discharge port of the robot's internal pump is fixedly connected to one end of the conveying pipe through a flange or snap-fit ​​structure. When the robot's internal pump is running, it generates pressure, which drives the stone adhesive to be conveyed directionally along the conveying pipe. The other end of the conveying pipe is connected to the material conveying mechanism component 6. The channel formed by the connection serves as a material transfer node. The inner wall is equipped with a sealing gasket, which not only ensures the sealing of the connection between the conveying pipe and the channel, but also achieves a smooth transition of the stone adhesive conveying path. The top cover 7 of the material conveying mechanism covers the material conveying mechanism component 6 and does not directly contact the material conveying channel. It mainly plays a role in protecting the channel and surrounding connection parts from dust and foreign object intrusion, while also preventing gravel and dust from affecting the sealing of the interface during construction.

[0008] The material conveying mechanism component 6 is a dedicated channel port component for conveying stone adhesive. It is generally in the shape of a short tube and is made of wear-resistant and corrosion-resistant engineering plastics or stainless steel. One end of the material conveying mechanism component 6 is a receiving port that matches the conveying pipe. The inner side of the port is provided with anti-slip grooves and sealing grooves. The other end directly connects to the subsequent material conveying channel. The overall structure is compact and only undertakes the functions of material guidance and interface transfer. It has no cavity storage function and is the core transition component connecting the conveying pipe and the subsequent material conveying system.

[0009] The mobile system adopts a multi-wheel collaborative and flexible steering design; it includes chassis system tires 1, tire axle pins 2, tire brackets 3, and robot chassis 4, enabling flexible movement and precise positioning in the complex working environment of intercity stations; the chassis system tires 1 are set with 6 tires to directly bear part of the load of the equipment and during operation; the tire axle pins 2 are used to transfer the upper load to the tire brackets 3 and robot chassis 4; and the robot chassis 4 is used to further distribute and transfer the load to the working ground; The chassis system tire 1 is located at the bottom of the robot chassis 4. The tire axle pin 2 connects the chassis system tire 1 and the tire bracket 3. The robot chassis 4 is positioned above and inside the tire bracket 3, and is connected to the tire bracket 3 and the chassis system tire 1. The chassis system tire 1 uses heavy-duty omnidirectional wheels (load capacity ≥ 2t / wheel) and is equipped with electromagnetic brakes. The tire axle pin 2 is fully welded to the chassis system tire 1 and the tire bracket 3 to form the basic load-bearing structure for equipment movement.

[0010] The robot chassis 4 has a frame-type load-bearing structure with dimensions of 1600mm in length, 1000mm in width, and approximately 400mm in height (including tires). The overall shape is a rectangular frame adapted to a multi-wheel cooperative layout. The inner side is connected to the tire bracket 3, and the upper part is used to integrate the robot's core components such as power and control. The robot chassis 4 is constructed by multiple longitudinal and transverse reinforcing beams, which can effectively distribute the load transmitted by the chassis system tires 1 and tire bracket 3, and provide installation support for components such as pumps and material conveying mechanisms inside the robot. At the same time, it ensures structural stability and torsional resistance when moving in the complex working environment of intercity stations.

[0011] The tiling execution system includes a robotic arm, a telescopic tiling head, and a gripper 33; the robotic arm includes a first robotic arm section and a second robotic arm section. The first robotic arm segment includes a first robotic arm shell 13, a first joint inner skeleton 15, and a first joint shell 16. The first robotic arm shell 13 is a cylindrical external protective structure, with a truss-type inner skeleton 14 made of high-precision steel wire nested inside. The steel wires are distributed in a spiral cylindrical shape to enhance the robotic arm's torsional resistance and load-bearing capacity. The first joint inner skeleton 15 is made of high-precision steel wire and is connected to the wire mesh of the first robotic arm inner skeleton 14 through metal nodes. It is externally wrapped by the first joint shell 16, which is a spherical shell to enable multi-angle rotation of the first joint of the robotic arm. The truss-type inner skeleton 14 is a truss structure to enhance strength. The first joint shell 16 is a spherical shell, and the first joint inner skeleton 15 is a cross-shaped connecting frame to accommodate multi-angle rotation.

[0012] The second robotic arm includes a second robotic arm shell 17, a hollow inner skeleton 18, a second joint rotation axis 22, a second joint shell 21, and a hand robotic arm 20. The hollow inner skeleton 18, made of high-precision steel wire, is nested inside the second robotic arm shell 17 and connected to the second joint rotation axis 22 via steel wire nodes. The second joint rotation axis 22 is a cylindrical shaft, which is wrapped by the second joint shell 21 to enable flexible rotation of the second joint. The hand robotic arm 20 is connected to the second robotic arm inner skeleton 18 via steel wire nodes. The diameter of the second robotic arm shell 17 is slightly smaller than that of the first section, and the inner skeleton 18 has a hollow design. The joint rotation axis 22 is a cylindrical shaft, and the shell 21 is a hemispherical shell to ensure stability during rotation.

[0013] The gripper 33 is provided with an end joint 35, which is connected to the suction cup 40. The end joint 35 is a multi-degree-of-freedom joint and is used to adjust the angle and position of the suction cup 40 to achieve precise gripping of the stone. The gripper 33 is a fork-shaped metal component, and the end joint 35 is a spherical hinge structure. The suction cup 40 is a disc-shaped silicone component with a force transmission device and a mounting base in the middle to enhance the adsorption force and stability.

[0014] The mortar spreading head includes a main body connection, an outer frame 54, a telescopic track 51, an external scraper 56, and an internal scraper 57. The outer frame 54 is an integral support structure, and is internally connected to the main body via the telescopic track 51 to achieve telescopic adjustment of the mortar spreading head. The external scraper 56 and the internal scraper 57 are installed at the bottom of the main body of the mortar spreading head to complete the spreading and leveling of the mortar. The outer frame 54 is a rectangular frame, and the telescopic track 51 is a guide rail structure. The external scraper 56 is an inclined plate-shaped component, and the internal scraper 57 is a wavy scraper blade, which can adapt to the spreading requirements of mortar of different thicknesses.

[0015] The perception and positioning system adopts a fusion design of lidar and visual image matching; it includes a visual detection device 28, a visual device mounting base 27, a visual device support component 26, and a visual device connecting line 25, to achieve accurate positioning and environmental perception in the large-space operation environment of intercity stations. The visual inspection device 28 is used to collect image information of the work area. The visual inspection device 28 is installed on the visual device mounting base 27. The visual device bracket component 26 is used to connect the visual inspection device 28 to the hand robotic arm 20. The visual device connection cable 25 is used to realize data and power transmission. The visual inspection device 28 is equipped with a multi-view camera and a lidar, and is installed on the side of the end of the hand robotic arm 20, forming a spatial collaborative layout with the adjustable fixture.

[0016] The vision inspection device 28 integrates a rotatable composite sensing unit of a multi-view camera and a lidar. It adopts a spherical shell design and encapsulates a high-resolution binocular camera module and a lidar sensor inside. The shell is connected to the vision device mounting base 27 through a rotating joint, which can achieve 360° omnidirectional rotation. The multi-view camera is used to collect visual images of the work area, and the lidar is used to acquire three-dimensional point clouds of the environment. The fusion of the two achieves accurate positioning and environmental perception. The multi-view camera and lidar are installed on the side of the end of the hand robotic arm 20. The rotation function allows it to cover a larger sensing area.

[0017] The vision device support component 26 is a multi-segment adjustable metal support with a zigzag shape. It is composed of rod-shaped components with hinged joints. One end is fixed to the hand robotic arm 20, and the other end is connected to the vision device mounting base 27. It can cooperate with the rotation function of the vision detection device 28 to achieve multi-angle and multi-dimensional posture adjustment, ensuring the best viewing angle of the sensing unit in different working scenarios.

[0018] The human-machine collaborative system includes a power and execution component and a sensing and guidance component. The power component is a high-torque servo motor 24, which is rectangular in shape with a metal shell and a heat dissipation grille. The output shaft is a high-precision spline shaft used to drive the transmission mechanism of the gripper track to achieve linear movement of the clamp. The high-torque servo motor 24 is fixed to one side of the gripper base 23 by bolts. The gripper base 23 provides stable mounting support for the motor and also bears the load transmitted by the hand robotic arm 20. The transmission mechanism of the gripper track 42 is driven by the output shaft, which drives the first gripper fixing clip 30 and the second gripper fixing clip 32 to move linearly along the track. With the rotational freedom of the gripper joint 29, the rotation axis 31, and the rotation axis 36, high-precision posture adjustment for stone gripping and pre-laying is achieved. The high-torque servo motor (24) has an actuator arranged at its bottom, and the actuator includes multiple sets; The actuator includes a gripper 33 and a suction cup 40, which are connected to the joint assembly via a fixing clip. The multiple suction cups 40 are arranged to stably adsorb the stone, providing reliable material support for machine pre-laying. The surface of the suction cup 40 is a radially textured anti-slip pad, which increases the contact area between the suction cup and the stone surface. The deformation of the texture further enhances the anti-slip effect, ensuring that heavy granite is gripped without slipping. The depth of the ribs and ridges is controlled at 2mm, which ensures anti-slip performance without affecting the vacuum adsorption effect of the suction cup. The first gripper fixing clip 30 and the second gripper fixing clip 32 are hinged to both sides of the gripper joint 29 via the first gripper joint rotation axis 31. The first gripper joint rotation axis 31 passes through the hinge hole between the gripper joint 29 and the fixing clip, so that the fixing clip rotates relative to the gripper joint 29 around the first gripper joint rotation axis 31, thereby realizing flexible adjustment of the clamp position.

[0019] The first gripper fixing clip 30 and the second gripper fixing clip 32 are symmetrical "L"-shaped metal clips. One end is provided with a hinge hole that mates with the gripper joint rotation axis 31, and the other end is a clamping structure. The inner side of the clamping structure has anti-slip texture or positioning groove to adapt to the shape of the gripper 33 mounting base.

[0020] The sensing and guidance components include a vision detection device 28 and an integrated lidar. The vision detection device 28 is fixed by a bracket 26 and a mounting base 27, and collects image data of the paving area. On the one hand, it provides positioning reference for machine pre-paving, and on the other hand, it pushes paving parameters (such as corner alignment references) to the human-machine interface to guide manual fine paving. The lidar integrated into the vision detection device 28 can work with the vision device to generate laser marks to mark the pre-paving position and corner alignment lines on the work surface, realizing visual guidance for machine pre-paving and manual fine paving.

[0021] When the robot paving system detects that the work area is close to the edge of the granite at the intercity station, the vision detection device 28 collects edge contour data, triggering the system to automatically switch to "corner mode". The corner finishing pre-positioning device, in conjunction with the lidar of the vision detection device 28, projects a cutting line (matching the granite corner size) and a paving baseline on the edge area, replacing the benchmark calibration of manual on-site measurement. The system synchronizes the stone cutting parameters (size, angle) corresponding to the cutting line and the positioning parameters corresponding to the paving baseline to the worker's handheld terminal in real time. The worker can operate directly according to the terminal parameters without the need for on-site measurement, thus shortening the manual preparation time.

[0022] A smart stone paving robot for intercity railway stations and its construction method, comprising the following steps; First, the power system is activated. The pump inside the power system draws stone adhesive from the material conveying mechanism component 6 and outputs stable power through the conveying pipe 45 to support the operation of each system. Next, the moving system is operated. The chassis system of the moving system, with tires 1, tire axle pins 2, and tire brackets 3, forms the moving base. The robot chassis 4 provides a stable bearing surface. Before operation, the position of the chassis system tires 1 is locked by electromagnetic braking to form a stable working base. Then, the paving execution system is activated. The first section of the robotic arm, the second section of the robotic arm, and the hand robotic arm of the paving execution system are activated. Driven by hydraulic power, the arm 20, through the coordinated action of the U-shaped robotic arm joint 11, the inner skeleton 15 of the first joint of the robotic arm, and the rotating shaft 22 of the second joint of the robotic arm, drives the adjustable clamps (gripper 33, suction cup 40, etc.) to adjust the spatial posture of the stone. At the same time, the telescopic paving head (paving head outer frame 54, paving head telescopic track 51, etc.) adjusts the mortar width according to the stone specifications (600-1200mm). The external scraper 56 and the internal scraper 57 work together to evenly spread the stone adhesive and accurately deliver the stone to the designated paving position. At the same time, the perception and positioning system is activated. The visual inspection device 28 is fixed to the end of the hand robotic arm 20 through the visual device mounting base 27 and the visual device bracket component 26. It collects image information of the work area, and the lidar scans the environment simultaneously. The data from both are transmitted to the control system through the visual device connection line 25, realizing accurate positioning and environmental perception in the large space of the urban rail station, and providing a position reference for the paving operation. In the human-machine collaboration stage, the machine first completes the initial stone laying under the guidance of the perception and positioning system, and then the human is guided to fine-tune the laying. The high-torque servo motor 24 drives the gripper joint 29, the first gripper joint rotation axis 31, and the second gripper joint rotation axis 36, and the human fine-tunes the position of the stone edges and corners. Finally, the vision inspection device 28 is activated to carry out closed-loop quality inspection. The laying quality is fed back through image detection, realizing full-process data linkage. During the design phase, BIM software was used to simulate the spatial layout of the urban rail station, pedestrian flow interference, and stone paving load to accurately determine the robotic arm's movement path and fixture adjustment parameters. During on-site operations, the fusion positioning of the visual inspection device 28 and LiDAR was used to calibrate the mortar spreading width and stone paving position of the paving head, ensuring that the movements of each component are adapted to the urban rail station scenario, and ultimately achieving efficient and precise stone paving in the urban rail station.

[0023] The beneficial effects of this invention are: This invention significantly improves the efficiency, precision, and scene adaptability of large-format heavy granite paving in urban rail stations through multi-dimensional innovative design, effectively solving the technical pain points of traditional paving methods in terms of large stone load-bearing capacity, scene-based calibration, and edge and corner treatment.

[0024] The design of this invention for a large-size heavy granite adaptive load-bearing and laying mechanism employs a multi-stage buffer load-bearing component consisting of a carbon fiber frame and hydraulic buffer arms. This increases the frame's load-bearing capacity to 80kg while providing a safety redundancy. Built-in pressure sensors in the arms monitor the weight distribution of the stone in real time, automatically adjusting the support force to prevent edge cracking of large-size stones due to uneven stress. Simultaneously, the retractable silicone suction cups and electrically adjustable tracks provide adaptive size adjustment, allowing the suction cup spacing to be freely adjusted within the range of 600-1200mm. The suction cup surface features a radially textured anti-slip pad, increasing the contact area between the suction cup and the stone surface. The deformation of the texture further enhances the anti-slip effect, ensuring that heavy granite is gripped without slipping. The depth of the ribs and ridges is controlled at 2mm, ensuring anti-slip performance without affecting the vacuum adsorption effect of the suction cup, thus ensuring stable gripping, conveying, and laying of 50kg-class heavy granite.

[0025] This invention relates to a human-machine collaborative operation system for granite edge finishing in intercity railway stations. Through an edge finishing pre-positioning and marking device, the robot automatically switches to edge mode when laying granite in the edge area, identifies the edge contour, and marks the cutting line and laying baseline using laser projection. Simultaneously, it pushes cutting parameters to the worker's handheld terminal, eliminating the need for on-site measurement. The edge laying quality closed-loop detection module uses an image comparison algorithm to compare the actual laying effect with a preset quality standard library, automatically generating a quality inspection report. This ensures that there are no hollow areas or deviations at the human-machine interface, significantly improving the quality of edge processing and the efficiency of manual patching.

[0026] The adjustable mortar spreading head of this invention allows for flexible adjustment of the mortar spreading width within the range of 600-1200mm, adapting to the paving needs of different specifications of stone and solving the problems of fixed width and poor adaptability of traditional mortar spreading heads. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the intelligent stone laying robot in the preparation state for the present invention.

[0028] Figure 2 This is a schematic diagram of the intelligent stone laying robot in its unfolded state according to the present invention.

[0029] Figure 3 This is a schematic diagram of the intelligent stone paving robot in operation according to the present invention.

[0030] Figure 4 This is a schematic diagram of the gripper structure of the intelligent stone paving robot of the present invention.

[0031] Figure 5 This is a schematic diagram of the gripper of the intelligent stone paving robot of the present invention from another angle.

[0032] Figure 6 This is a schematic diagram of the material spreading head structure of the present invention.

[0033] Figure 7 This is a schematic diagram of the material spreading head of the present invention from another angle.

[0034] Figure 8 This is a schematic diagram of the cross-sectional structure of the material spreading head of the present invention.

[0035] Among them, 1-chassis system tire, 2-tire axle pin, 3-tire bracket, 4-robot chassis, 5-robot shell, 6-material conveying mechanism component, 7-material conveying mechanism top cover, 8-robot tail connection cable, 9-robotic arm base, 10-robotic arm base bolt, 11-U-shaped robotic arm joint, 12-U-shaped robotic arm, 13-first section robotic arm shell, 14-first section robotic arm endoskeleton, 15-robotic arm first joint endoskeleton, 16-robotic arm first joint shell, 17-second section robotic arm shell, 18-second section robotic arm endoskeleton, 19-robot hand connection cable, 20-hand robotic arm, 21-robotic arm second joint shell, 22-robotic arm second joint rotation axis, 23-gripper base, 24-high torque servo motor, 25-vision device connection cable, 26-vision device bracket component, 27-vision device mounting base, 28-vision inspection device, 29-... - Gripper joint, 30- First gripper fixing clip, 31- First gripper joint rotation axis, 32- Second gripper fixing clip, 33- Gripper, 34- End joint clip, 35- End joint, 36- Second gripper joint rotation axis, 37- Suction cup mounting base, 38- Suction cup force transmission device, 39- Suction cup base, 40- Suction cup, 41- Track frame, 42- Gripper track, 43- Stone placement rack, 44- Rotatable stone placement plate, 4 5-Conveying pipe, 46-Conveying pipe bolt, 47-Conveying pipe opening, 48-Top plate of inner frame of laying head, 49-Top plate of outer frame of laying head, 50-Inner frame of laying head, 51-Telescopic track of laying head, 52-Bottom plate of inner frame of laying head, 53-Bottom plate of outer frame of laying head, 54-Outer frame of laying head, 55-Opening at the upper end of laying head, 56-External scraper, 57-Internal scraper, 58-Evening chamber, 59-Stone, 60-Stone adhesive. Detailed Implementation

[0036] The present invention will now be described in further detail with reference to the accompanying drawings.

[0037] like Figures 1 to 2 This invention discloses an intelligent stone paving robot suitable for intercity stations, including a power system, a mobility system, a paving execution system, a perception and positioning system, a human-machine collaboration system, and an intelligent control system; The power system provides stable and controllable power output to the mobile system, paving execution system, sensing and positioning system, human-machine collaboration system and intelligent control system, ensuring the efficient operation of each system; The mobile system is used to enable the robot to move flexibly in the complex working environment of intercity stations and reach the paving work area; The paving execution system is used to complete the work process of grabbing stone, spreading mortar, and precisely paving; it includes two innovative modules: adjustable clamps and retractable paving heads, which can adapt to the paving needs of different sizes of stone from 600-1200mm. The perception and positioning system is used to realize the positioning and environmental perception of the work area; it integrates lidar and visual image matching technology to cope with the characteristics of large space and crowd interference in intercity stations. The human-machine collaborative system is used to achieve efficient linkage between machine pre-laying positioning and manual fine-laying guidance. It forms a closed-loop data process through laser marking, parameter push, and image detection, thereby improving the paving quality and efficiency in complex areas such as corners. The intelligent control system is used to coordinate the collaborative operation of various systems and integrates BIM technology to realize the advance simulation and optimization of the paving path, ensuring construction accuracy and smooth process.

[0038] The power system, as the core power supply unit, provides stable and controllable power to the mobile system, paving execution system, sensing and positioning system, human-machine collaboration system, and intelligent control system, serving as the energy foundation for the operation of each system. Driven by the power system, the mobile system flexibly moves the entire robot and various operating systems between different work areas of the intercity station, ensuring spatial mobility for paving operations. Supported by the power system, the paving execution system stably grips large-sized stones using adjustable clamps and completes precise mortar spreading and efficient stone laying with the help of a retractable paving head. The adjustment of its clamps and the retractable paving head... The extension and retraction movements all rely on the power output of the power system; the perception and positioning system, empowered by the power system, continuously scans and collects images of the working environment, providing real-time and accurate environmental data for tiling positioning; the human-machine collaboration system, based on the stable operation of each system ensured by the power system, achieves seamless collaboration between machines and humans, fully combining the precision of machines with the flexibility of humans; the intelligent control system, relying on the operating status of each system maintained by the power system, integrates multi-source data, optimizes the work process, and integrates BIM technology to achieve intelligent tiling path planning and control, promoting the efficient and accurate implementation of the entire tiling operation.

[0039] In one embodiment of the invention, a rotatable stone placement plate 44 is mounted on the chassis system for stacking stones.

[0040] Specifically, the stone is placed in an inclined stacking manner using a rotatable stone placement plate 44, which is inclined at 30-45° from the vertical direction, with 35° being the preferred angle. The tiles are compactly stacked on the plate by their own weight, which not only ensures stacking stability but also facilitates quick and precise gripping by the multi-joint robotic arm. No additional fixing devices are required, making the structure and operation very simple.

[0041] The U-shaped robotic arm 12 is connected to the robotic arm base bolt 10 and the robotic arm base 9.

[0042] The U-shaped robotic arm 12 employs a U-shaped design to effectively distribute the torque during operation. Combined with its rotation function, it balances forces in different directions, improving the overall stability and lifespan of the robotic arm. The U-shaped robotic arm 12 has a left-right rotation range of ±90°, covering all scenarios for tile laying: when laying wall edges or corners, the U-shaped robotic arm base can rotate 90° left or right, allowing the robotic arm to precisely extend its gripper into confined spaces for laying; when laying large wall areas, a 0° center rotation angle enables efficient, wide-area operation, balancing adaptability to complex scenarios with efficiency in routine work. This rotational design, combined with real-time positioning by the vision detection device 28, allows for dynamic adjustment of the working posture within a ±90° range, ensuring the gripper's grasping and laying actions on the stone 59 remain precise. This significantly improves the quality and efficiency of laying in corner areas, especially in complex scenarios with large spaces and multiple corners, such as intercity train stations.

[0043] The robotic arm consists of a U-shaped robotic arm 12, a first-section robotic arm shell 13, a first-section robotic arm endoskeleton 14, a second-section robotic arm shell 17, and a second-section robotic arm endoskeleton 18. The joint consists of a U-shaped robotic arm joint 11, a first-section robotic arm endoskeleton 15, a first-section robotic arm shell 16, a second-section robotic arm shell 21, and a second-section robotic arm rotation axis 22.

[0044] Specifically, the robotic arm joint adopts a precision ball screw design, with the lead accuracy of the ball screw controlled within 0.01mm. Combined with high-precision balls (roundness error ≤0.002mm), the rotational accuracy of the joint is improved to 0.05°, which is about 50% higher than that of traditional gear-driven joints. This joint design enables the robotic arm to achieve comprehensive improvements in transmission accuracy, service life, and power response.

[0045] like Figure 3 As shown, the chassis system has 6 tires, and adopts a layout of front dual-wheel steering and rear four-wheel drive.

[0046] Specifically, the two front wheels are equipped with a steering mechanism, which can achieve a steering angle of ±30°, enabling the robot to turn flexibly in the complex working environment of intercity stations. The minimum turning radius is only 0.8m, which improves the mobility by 40% compared to traditional four-wheeled robots. The four rear wheels are drive wheels, driven by independent motors. They can automatically adjust the speed and torque of each wheel according to the working terrain to achieve differential drive, ensuring that the robot maintains a stable posture during the paving process and avoids stone paving deviation due to uneven ground.

[0047] When gripping the stone, the four rear wheels bear the main load. Through the rigid connection between the tire bracket 3 and the robot chassis 4, the weight of the stone (maximum 80kg) is evenly distributed to the four drive wheels to avoid overloading of a single wheel. During the laying operation, the two front wheels work together with the rear wheels to form a triangular stable support. Combined with the buffer design of the tire axle pin 2, the overall stability of the robot when laying the stone is improved by 30%, ensuring that the flatness deviation of the stone during laying is ≤0.5mm.

[0048] like Figure 4 and Figure 5 As shown, the visual inspection device 28 integrates a rotatable camera and a lidar to achieve precise positioning and dynamic calibration throughout the entire stone paving process.

[0049] Specifically, the visual inspection device 28 acquires high-definition images and identifies the edges of tiles, wall baselines, and inherent architectural features of the intercity station (such as column outlines and pipeline routes) through edge detection and feature matching algorithms. The lidar simultaneously generates a three-dimensional point cloud to perceive obstacles in the work space in real time. After the data of the two are fused, combined with the BIM model, millimeter-level positioning in a large space can be achieved, ensuring that the tiling position deviation is ≤0.5mm even in complex scenarios with pedestrian interference.

[0050] During the tile gripping stage, the vision system automatically identifies the corner features of the stone 59, guiding the gripper 33 to precise alignment and avoiding gripping errors caused by stone stacking deviations. During the laying process, the system takes real-time pictures of the splicing area of ​​the laid and unlaid tiles, and calculates the gap and flatness deviations through image comparison algorithms. If the deviation exceeds 0.3mm, an adjustment command is immediately sent to the robotic arm, forming a closed loop of laying, detection and calibration to ensure laying accuracy.

[0051] like Figure 4 and Figure 5 As shown, through the coordinated design of the track frame 41, the gripper track 42, the first gripper fixing clip 30, the first gripper joint rotation axis 31, the second gripper fixing clip 32, and the gripper 33, the adaptive adjustment of the suction cup 40 position and the adaptation to multiple specifications of stone are achieved.

[0052] Specifically, the gripper track 42 is a double-rail sliding structure, and the track frame 41 is connected to the gripper 33 via a slider, allowing the spacing of the suction cups 40 to be freely adjusted within a range of 400-1200mm. This design enables the suction cups to automatically adapt to the gripping points according to the size of the stone. For example, for large 1200mm stones, the suction cup spacing can be adjusted to 800mm to achieve balanced force at four points; for small 600mm stones, the spacing is adjusted to 400mm to avoid suction failure caused by the suction cups extending beyond the edge of the stone.

[0053] The first gripper fixing clip 30, the first gripper joint rotation axis 31, and the second gripper fixing clip 32 constitute a multi-joint linkage structure. With the sliding adjustment of the gripper track, the suction cup 40 can adapt to the tilt angle of the stone when gripping, ensuring that the suction cup is completely attached to the stone surface, increasing the adsorption force by 30%. Even 80kg heavy stone can be gripped stably without the risk of slipping.

[0054] In addition, the high-torque servo motor can output stable and precise torque to drive the gripper joint 29, the first gripper joint rotation axis 31, and the second gripper joint rotation axis 36 to achieve multi-angle, small-step rotation, with an angle control accuracy of up to 0.1°.

[0055] like Figure 6 , Figure 7 and Figure 8 As shown, the material spreading head is modularly designed. The material spreading head consists of an inner frame 50, an outer frame 54, and a telescopic track 51, forming a modular telescopic system.

[0056] like Figure 6 The diagram shows the structure of the spreading head. The inner frame 50 of the spreading head is nested inside the outer frame 54 of the spreading head, and the two are connected by the spreading head telescopic track 51 to achieve modular telescopic movement. The top plate 48 of the inner frame of the spreading head is set parallel to the top plate 49 of the outer frame of the spreading head, and the bottom of the inner frame bottom plate 52 and the outer frame bottom plate 53 of the spreading head are respectively. The conveying pipe 45 is fixed to the center of the top plate 48 of the inner frame of the spreading head by the conveying pipe bolt 46, and the conveying pipe port 47 is connected to the homogenization chamber 58.

[0057] like Figure 7 As shown, another angle shows the side structure of the spreading head. The upper opening 55 of the spreading head is located on the right side of the top plate 49 of the outer frame. The external scraper 56 is installed at an angle at the end of the bottom plate 53 of the outer frame. The internal scraper 57 is distributed in a wave shape below the bottom plate 52 of the inner frame, and the two form a double-layer scraper structure. The telescopic track 51 is arranged longitudinally along both sides of the inner frame and cooperates with the inner track groove of the outer frame.

[0058] like Figure 8As shown, the cross-sectional structure reveals the internal structure. The homogenizing chamber 58 is located at the bottom of the inner frame 50 of the spreading head and is a rectangular cavity. The internal scraper 57 is fixed to the lower surface of the homogenizing chamber by a connector, and the conveying pipe 47 extends to the center of the top of the homogenizing chamber. The inner side of the outer frame bottom plate 53 is provided with a guide groove corresponding to the inner frame bottom plate 52 to ensure stability during expansion and contraction.

[0059] The inner frame 50 of the mortar spreading head is nested inside the outer frame 54 of the mortar spreading head and is slidably connected by the telescopic track 51 of the mortar spreading head. The track adopts precision ball screw drive, which allows the width of the inner frame to be infinitely adjusted within the range of 600-1200mm. The top plate 48 of the inner frame, the top plate 49 of the outer frame, the bottom plate 52 of the inner frame, and the bottom plate 53 of the outer frame form an upper and lower double track support structure to ensure the structural stability during the expansion and contraction process. Even at the maximum expansion and contraction stroke, the overall rigidity of the mortar spreading head can still meet the stress requirements of mortar spreading.

[0060] Specifically, based on the size of the stone 59 (600-1200mm), the control system drives the mortar spreading head to adjust its width along the telescopic track 51, ensuring that the mortar spreading width perfectly matches the stone size. For example, when laying 600mm stone, the spreading head shrinks to a width of 600mm to avoid mortar waste; when laying 1200mm stone, it extends to a width of 1200mm to ensure that the bottom of the stone is fully covered by mortar, thus solving the adaptability defects of traditional fixed-width spreading heads that are used for laying large stones on small stones or small stones on large stones.

[0061] Specifically, the spacing between the internal scraper 57 and the external scraper 56 is adjusted synchronously with the extension and retraction of the mortar spreading head. Combined with the buffer design of the homogenizing chamber 58, the mortar spreading thickness deviation under different widths is ≤1mm.

[0062] Specifically, the scalable design enables one machine to adapt to multiple specifications, and can complete the laying of different sizes of stone without changing the laying head. Compared with the traditional replaceable laying head, it greatly reduces the equipment debugging time and can significantly improve construction efficiency in the scenario of mixed laying of multiple sizes of stone in intercity stations.

[0063] The working principle of this embodiment: First, the power system is activated. The pump inside the power system draws stone adhesive from the material conveying mechanism component 6 and outputs stable power through the conveying pipe 45 to support the operation of each system. Next, the moving system is operated. The chassis system of the moving system, with tires 1, tire axle pins 2, and tire brackets 3, forms the moving base. The robot chassis 4 provides a stable bearing surface. Before operation, the position of the chassis system tires 1 is locked by electromagnetic braking to form a stable working base. Then, the paving execution system is activated. The first section of the robotic arm, the second section of the robotic arm, and the hand robotic arm of the paving execution system are activated. Driven by hydraulic power, the arm 20, through the coordinated action of the U-shaped robotic arm joint 11, the inner skeleton 15 of the first joint of the robotic arm, and the rotating shaft 22 of the second joint of the robotic arm, drives the adjustable clamps (gripper 33, suction cup 40, etc.) to adjust the spatial posture of the stone. At the same time, the telescopic paving head (paving head outer frame 54, paving head telescopic track 51, etc.) adjusts the mortar width according to the stone specifications (600-1200mm). The external scraper 56 and the internal scraper 57 work together to evenly spread the stone adhesive and accurately deliver the stone to the designated paving position. At the same time, the perception and positioning system is activated. The visual inspection device 28 is fixed to the end of the hand robotic arm 20 through the visual device mounting base 27 and the visual device bracket component 26. It collects image information of the work area, and the lidar scans the environment simultaneously. The data from both are transmitted to the control system through the visual device connection line 25, realizing accurate positioning and environmental perception in the large space of the urban rail station, and providing a position reference for the paving operation. In the human-machine collaboration stage, the machine first completes the initial stone laying under the guidance of the perception and positioning system, and then the human is guided to fine-tune the laying. The high-torque servo motor 24 drives the gripper joint 29, the first gripper joint rotation axis 31, and the second gripper joint rotation axis 36, and the human fine-tunes the position of the stone edges and corners. Finally, the vision inspection device 28 is activated to carry out closed-loop quality inspection. The laying quality is fed back through image detection, realizing full-process data linkage. During the design phase, BIM software was used to simulate the spatial layout of the urban rail station, pedestrian flow interference, and stone paving load to accurately determine the robotic arm's movement path and fixture adjustment parameters. During on-site operations, the fusion positioning of the visual inspection device 28 and LiDAR was used to calibrate the mortar spreading width and stone paving position of the paving head, ensuring that the movements of each component are adapted to the urban rail station scenario, and ultimately achieving efficient and precise stone paving in the urban rail station.

[0064] This embodiment breaks through the technical constraints of traditional paving robots, such as fixed size and weak load capacity. Through multi-dimensional innovative design, it achieves full coverage of stone sizes in the range of 600-1200mm, while also having the ability to stably pave heavy stone weighing up to 50kg, precisely meeting the complex construction scenarios of urban rail transit stations.

[0065] This embodiment employs a lightweight carbon fiber frame and a multi-level load-bearing structure with a hydraulic buffer robotic arm, increasing the overall load capacity of the equipment to 80kg while providing a safety margin. Combined with an adaptive clamp consisting of retractable silicone suction cups and electrically adjustable tracks, the suction cup spacing can be adjusted within the range of 600-1200mm. The anti-slip surface texture and dynamically controllable suction cup pressure provide dual protection, ensuring no slippage risk throughout the entire process of gripping, transporting, and laying heavy stone materials, achieving a technological leap from small-scale, lightweight operations to large-scale, heavy-duty construction.

[0066] This embodiment addresses the challenge of finishing the edges and corners of urban rail transit stations by innovating a human-machine collaborative edge processing mechanism: when the robot reaches the edge area, it automatically switches to edge operation mode, accurately identifies the edge contour through a vision inspection device, and then marks the cutting line and laying baseline using laser projection. At the same time, the cutting parameters are pushed to the worker's handheld terminal in real time, allowing the worker to complete precise cutting without on-site measurement. The supporting edge quality closed-loop detection module uses an image comparison algorithm to compare the actual laying effect with a preset quality standard library, automatically generating a quality inspection report to ensure that there are no hollow spots or deviations at the human-machine connection, significantly improving the laying quality of the edge and corner areas and the efficiency of manual patching.

[0067] The extendable mortar spreading head system in this embodiment can flexibly adjust the mortar spreading width within the range of 600-1200mm according to the stone size, perfectly matching the paving needs of different stone specifications and eliminating the problems of mortar waste or insufficient coverage caused by the fixed width of traditional mortar spreading heads. In the scenario of mixed paving of multiple stone specifications in urban rail transit stations, it significantly improves construction efficiency and fully meets the requirements of efficient on-site construction.

[0068] The above embodiments are merely one of the implementation methods for achieving the technical solution of the present invention. The scope of protection claimed by the present invention is not limited to this embodiment, but also includes any variations, substitutions and other implementation methods that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention.

Claims

1. An intelligent stone paving robot suitable for intercity railway stations, characterized in that, This includes the power system, mobility system, paving execution system, sensing and positioning system, human-machine collaboration system, and intelligent control system; The power system provides stable and controllable power output for the mobile system, paving execution system, sensing and positioning system, human-machine collaboration system, and intelligent control system; The mobile system is used to enable the robot to move flexibly in the complex working environment of intercity stations and reach the paving work area; The paving execution system is used to complete the work process of grabbing the stone, spreading the mortar, and paving precisely, and is suitable for paving needs of different specifications of stone from 600-1200mm. The sensing and positioning system is used to achieve positioning of the work area and environmental perception. The human-machine collaborative system is used to achieve efficient linkage between machine pre-laying positioning and manual fine-laying guidance. It forms a closed-loop data process through laser marking, parameter push, and image detection, thereby improving the paving quality and efficiency in complex areas such as corners. The intelligent control system is used to coordinate the collaborative operation of various systems and integrates BIM technology to realize the advance simulation and optimization of the paving path.

2. The intelligent stone paving robot suitable for intercity stations according to claim 1, characterized in that, The power system includes an internal pump body, a conveying pipe, a material conveying mechanism component (6), and a material conveying mechanism top cover 7; The discharge port of the internal pump body of the robot is fixedly connected to one end of the conveying pipe through a flange or snap-fit ​​structure. When the internal pump body of the robot is running, it generates pressure to drive the stone adhesive to be conveyed directionally along the conveying pipe. The other end of the conveying pipe is connected to the material conveying mechanism component (6), and the channel formed by the connection serves as a material transfer node. The inner wall is provided with a sealing gasket. The top cover (7) of the material conveying mechanism covers the top of the material conveying mechanism component (6) and does not directly contact the material conveying channel.

3. The intelligent stone paving robot suitable for intercity stations according to claim 2, characterized in that, The material conveying mechanism component (6) is a special channel port component for conveying stone adhesive. It is in the shape of a short tube and is made of wear-resistant and corrosion-resistant engineering plastic or stainless steel. One end of the material conveying mechanism component (6) is a receiving port that matches the conveying pipe. The inner side of the port is provided with anti-slip groove and sealing groove. The other end is directly connected to the subsequent material conveying channel.

4. The intelligent stone paving robot suitable for intercity stations according to claim 1, characterized in that, The mobile system includes chassis system tires (1), tire axle pins (2), tire brackets (3) and robot chassis (4); the chassis system tires (1) are used to directly bear part of the load of the equipment and during operation, the tire axle pins (2) are used to transfer the upper load to the tire brackets (3) and robot chassis (4), and the robot chassis (4) is used to further distribute and transfer the load to the working ground; The chassis system tire (1) is located at the bottom of the robot chassis (4), and the tire axle pin (2) is connected between the chassis system tire (1) and the tire bracket (3). The robot chassis (4) is located above and inside the tire bracket (3) and is connected to the tire bracket (3) and the chassis system tire (1).

5. The intelligent stone paving robot suitable for intercity stations according to claim 1, characterized in that, The paving execution system includes a robotic arm, a telescopic paving head, and a gripper (33); the robotic arm includes a first robotic arm section and a second robotic arm section. The first section of the robotic arm includes a first section robotic arm shell (13), a first joint inner skeleton (15), and a first joint shell (16). The first section robotic arm shell (13) is a cylindrical external protective structure, with a truss-type inner skeleton (14) woven from high-precision steel wire nested inside. The steel wire is distributed in a spiral cylindrical shape. The first joint inner skeleton (15) is made of high-precision steel wire and is connected to the wire mesh of the first section robotic arm inner skeleton (14) through metal nodes. It is wrapped by the first joint shell (16) of the robotic arm. The first joint shell (16) is a spherical shell, which enables multi-angle rotation of the first joint of the robotic arm. The truss-type inner skeleton (14) is a truss structure to enhance strength. The first joint shell (16) of the robotic arm is a spherical shell, and the first joint inner skeleton (15) of the robotic arm is a cross-shaped connecting frame, which is adapted to multi-angle rotation. The second robotic arm includes a second robotic arm shell (17), a hollow inner skeleton (18), a second joint rotation axis (22), a second joint shell (21), and a hand robotic arm (20). The second robotic arm shell (17) is internally nested with a hollow inner skeleton (18) made of high-precision steel wire, which is connected to the second joint rotation axis (22) of the robotic arm through steel wire nodes. The second joint rotation axis (22) of the robotic arm is a cylindrical shaft, which is wrapped by the second joint shell (21) of the robotic arm to realize the flexible rotation of the second joint. The hand robotic arm (20) is connected to the hollow inner skeleton (18) through steel wire nodes. The diameter of the second robotic arm shell (17) is smaller than that of the first section, and the hollow inner skeleton (18) is a hollow design. The second joint rotation axis (22) of the robotic arm is a cylindrical shaft, and the second joint shell (21) of the robotic arm is a hemispherical shell. The gripper (33) is provided with an end joint (35), which is connected to the suction cup (40). The end joint (35) is a multi-degree-of-freedom joint and is used to adjust the angle and position of the suction cup (40) to achieve precise gripping of the stone. The gripper (33) is a fork-shaped metal component, and the end joint (35) is a spherical hinge structure. The suction cup (40) is a disc-shaped silicone component. The mortar spreading head includes a main body, an outer frame (54), a telescopic track (51), an external scraper (56), and an internal scraper (57). The outer frame (54) is an integral support structure, and the interior is connected to the main body of the mortar spreading head through the telescopic track (51) to realize the telescopic adjustment of the mortar spreading head. The external scraper (56) and the internal scraper (57) are installed at the bottom of the main body of the mortar spreading head to complete the spreading and leveling of mortar. The outer frame (54) of the mortar spreading head is a rectangular frame, and the telescopic track (51) is a guide rail structure. The external scraper (56) is an inclined plate-shaped component, and the internal scraper (57) is a wavy scraper blade, which is adapted to the spreading requirements of mortar of different thicknesses.

6. The intelligent stone paving robot suitable for intercity stations according to claim 1, characterized in that, The perception and positioning system includes a visual detection device (28), a visual device mounting base (27), a visual device support component (26), and a visual device connecting line (25), to achieve accurate positioning and environmental perception in the large-space operation environment of intercity stations. The visual inspection device (28) is used to collect image information of the work area. The visual inspection device (28) is installed on the visual device mounting base (27). The visual device bracket component (26) is used to connect the visual inspection device (28) to the hand robotic arm (20). The visual device connection cable (25) is used to realize data and power transmission. The visual inspection device (28) is equipped with a multi-view camera and a lidar, and is installed on the side of the end of the hand robotic arm (20), forming a spatial collaborative layout with the adjustable fixture. The vision detection device (28) integrates a rotatable composite sensing unit of multi-view camera and lidar. It adopts a spherical shell design and encapsulates a high-resolution binocular camera module and lidar sensor inside. The shell is connected to the vision device mounting base (27) through a rotating joint to achieve 360° omnidirectional rotation. The multi-view camera is used to collect visual images of the work area, and the lidar is used to acquire three-dimensional point clouds of the environment. The two are integrated to achieve accurate positioning and environmental perception. The multi-view camera and lidar are installed on the side of the end of the hand robotic arm (20). The vision device support component (26) is a multi-segment adjustable metal support in the shape of a broken line. It is composed of rod-shaped components with hinge joints. One end is fixed to the hand robotic arm (20), and the other end is connected to the vision device mounting base (27).

7. The intelligent stone paving robot suitable for intercity stations according to claim 1, characterized in that, The human-machine collaborative system includes a power and execution component and a sensing and guidance component; the power component is a high-torque servo motor (24), which is rectangular in shape with a metal shell and a heat dissipation grille. The output shaft is a high-precision spline shaft, which is used to drive the transmission mechanism of the gripper track to realize the linear movement of the clamp; the high-torque servo motor (24) is fixed to one side of the gripper base (23) by bolts. The gripper base (23) provides stable installation support for the motor and bears the load transmitted by the hand robotic arm (20); the transmission mechanism of the gripper track (42) is driven by the output shaft, which drives the first gripper fixing clip (30) and the second gripper fixing clip (32) to move linearly along the track. With the rotational freedom of the gripper joint (29), the rotation axis (31), and the rotation axis (36), the high-precision posture adjustment of stone gripping and pre-laying is realized; The high-torque servo motor (24) has an actuator arranged at its bottom, and the actuator includes multiple sets; The actuator includes a gripper (33) and a suction cup (40), the surface of which is a radially textured anti-slip pad; The first gripper fixing clip (30) and the second gripper fixing clip (32) are hinged to both sides of the gripper joint (29) via the first gripper joint rotation axis (31). The first gripper joint rotation axis (31) passes through the hinge hole between the gripper joint (29) and the fixing clip, so that the fixing clip rotates relative to the gripper joint (29) around the first gripper joint rotation axis (31), thereby realizing flexible adjustment of the clamp position.

8. The intelligent stone paving robot suitable for intercity stations according to claim 7, characterized in that, The first gripper fixing clip (30) and the second gripper fixing clip (32) are symmetrical "L" shaped metal clips. One end is provided with a hinge hole that cooperates with the gripper joint rotation axis (31), and the other end is a clamping structure. The inner side of the clamping structure has anti-slip texture or positioning groove to adapt to the shape of the gripper (33) mounting base.

9. The intelligent stone paving robot suitable for intercity stations according to claim 1, characterized in that, The sensing and guidance components include a visual inspection device (28) and an integrated lidar; the visual inspection device (28) is fixed by a bracket (26) and a mounting base (27), and collects image data of the paving area. On the one hand, it provides positioning reference for machine pre-paving, and on the other hand, it pushes the paving parameters to the human-machine interface to guide manual fine paving; the lidar integrated in the visual inspection device (28) can work with the visual device to generate laser marks, mark the pre-paving position and corner alignment lines on the work surface, and realize the visual guidance of machine pre-paving and manual fine paving. When the robot paving execution system recognizes that the work area is close to the edge of the granite of the intercity station, the vision detection device (28) collects edge contour data and triggers the system to automatically switch to "corner mode". The corner finishing pre-positioning device is linked with the laser radar of the vision detection device (28) to project the cutting line and the paving baseline in the edge area. The system synchronizes the stone cutting parameters corresponding to the cutting line and the positioning parameters corresponding to the paving baseline to the worker's handheld terminal in real time. The worker can operate directly according to the terminal parameters without measuring on site, which shortens the manual preparation time.

10. A construction method for an intelligent stone paving robot used in intercity stations, based on any one of claims 1-9, characterized in that, Includes the following steps; First, the power system is started. The pump inside the power system draws stone adhesive from the material conveying mechanism component (6) and outputs stable power through the conveying pipe (45) to support the operation of each system. Then, the moving system is operated. The chassis system tires (1) of the moving system, together with the tire axle pins (2) and tire brackets (3), form the moving base. The robot chassis (4) provides a stable bearing surface. Before operation, the position of the chassis system tires (1) is locked by electromagnetic braking to form a stable working base. Then, the paving execution system is started. The first section of the paving execution system, the second section of the paving system and the hand paving system (20) are driven by hydraulic power. Through the coordinated action of the U-shaped paving joint (11), the skeleton in the first joint of the paving arm (15), and the rotating shaft (22) of the second joint of the paving arm, the adjustable clamps are driven to adjust the spatial posture of the stone. At the same time, the telescopic paving head adjusts the mortar width according to the stone specifications. The external scraper (56) and the internal scraper (57) work together to complete the even spreading of stone adhesive and accurately deliver the stone to the designated paving position. At the same time, the perception and positioning system is activated. The visual inspection device (28) is fixed to the end of the hand robotic arm (20) through the visual device mounting base (27) and the visual device bracket component (26), and collects image information of the work area. The laser radar scans the environment simultaneously. The data of both are transmitted to the control system through the visual device connection line (25), realizing accurate positioning and environmental perception in the large space of the urban rail station, and providing a position benchmark for the paving operation. Entering the human-machine collaboration stage, the machine first completes the initial stone laying under the guidance of the perception and positioning system, and then the manual guides the fine laying. The high torque servo motor (24) drives the gripper joint (29), the first gripper joint rotation axis (31), and the second gripper joint rotation axis (36) to cooperate with the manual fine adjustment of the stone corner position. Finally, the visual inspection device (28) is activated to carry out closed-loop quality inspection. The laying quality is fed back through image detection, realizing full-process data linkage. During the design phase, BIM software was used to simulate the spatial layout of the urban rail station, pedestrian interference and stone paving load, and to accurately determine the movement path of the robotic arm and the adjustment parameters of the clamps. During on-site operation, the fusion positioning of the visual inspection device (28) and the lidar was used to calibrate the mortar spreading width and stone paving position of the paving head, ensuring that the movements of each component are adapted to the urban rail station scene, and finally achieving efficient and accurate paving of the urban rail station stone.

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