A ceramic tile core board automatic laying method and system based on multi-robot cooperation
The automated tile core board feeding method using multiple robotic arms has solved the problems of quality fluctuations and low efficiency caused by manual feeding, achieving efficient and stable tile production.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- GUANGZHOU PEARL RIVER DECORATION ENG CO
- Filing Date
- 2026-04-02
- Publication Date
- 2026-07-03
AI Technical Summary
In current tile production, the placement of tile core boards relies on manual experience, resulting in large fluctuations in product quality, low efficiency, and high labor intensity.
An automated ceramic tile core board feeding method using multi-robotic arm collaboration is adopted. The core board layout is identified by a central control console, and the core board is positioned, gripped, and fine-tuned by a conveyor belt drive system and robots. Ultimately, high stability and accuracy of feeding are achieved on a continuous production line.
It improved the efficiency and quality of tile production, reduced labor costs, and ensured product consistency and efficient production.
Smart Images
Figure CN122333748A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of construction machinery control technology, and in particular to an automatic ceramic tile core board feeding method and system based on multi-robotic arm collaboration. Background Technology
[0002] With the development of the times, ceramic tiles have gradually become more popular in the construction industry due to their wear resistance, water resistance, ease of cleaning, and high cost-effectiveness. As a result, the demand for ceramic tiles has increased significantly.
[0003] However, nowadays, most tile production involves manually placing the tile core boards, and then using machines to help spread the tile material onto the placed core boards. The placement effect heavily depends on the experience and meticulousness of the production workers, resulting in significant fluctuations in product quality. This also leads to high labor intensity and low tile production efficiency. Summary of the Invention
[0004] This invention provides an automatic ceramic tile core board feeding method based on multi-robotic arm collaboration, the main purpose of which is to improve the production efficiency and quality of ceramic tiles.
[0005] To achieve the above objectives, the present invention provides an automatic ceramic tile core board feeding method based on multi-robotic arm collaboration, comprising: Using a pre-built central control console, the core board layout is identified based on the pre-built core board size and the tile specifications input by the user, to obtain batch values and arrangement methods; Target core boards are sequentially obtained from a pre-built set of core boards. The target core boards are then transported to a preset positioning area using a pre-built conveyor belt drive system. The conveyor belt drive system is then paused to obtain the positioned core board. Using a pre-built brick-preparing robot, the positioned core board is gripped and placed into a pre-built material-laying workbench according to the arrangement, to obtain the core board to be laid, and the conveyor belt drive system is restarted, and the steps of sequentially obtaining the target core board from the pre-built core board set are returned. Obtain the number of core boards to be fabricated in the fabric workbench, and get the number of core boards that have been grabbed; Determine whether the number of core boards already grabbed is less than the batch value; When the number of core boards already gripped is less than the batch value, return to the step of obtaining the number of core boards already gripped in the fabric workbench; When the number of core boards already grasped is equal to the batch value, the pre-built brick-laying robot simultaneously grasps the number of core boards to be laid, obtaining a sequence of core boards to be laid, and then places the sequence of core boards to be laid onto the pre-built continuous production line.
[0006] Optionally, the step of using a pre-built central control panel to identify the core board layout based on the pre-built core board size and the tile specifications input by the user, to obtain batch values and arrangement methods, includes: Obtain the tile specifications input by the user, wherein the tile specifications include the tile's purpose and tile size, and obtain the stress requirements for the tile's purpose; Using a pre-built central control panel, the size of the tile is divided by the size of the pre-built core board to obtain the batch value; The core board dimensions of the batch value are randomly spliced based on the tile specifications to obtain a primary core board layout; Using pre-built digital twin technology, an anisotropic stress simulation analysis is performed on the primary core board layout to obtain the stress analysis results; A pre-built clustering algorithm is used to calculate the similarity between the force analysis results and the force requirements to obtain a similarity score; If the similarity score is less than the preset qualified threshold, the layout recognition model pre-trained in the central control panel is used to perform a core board distribution mutation operation based on the purpose of the tile on the primary core board layout according to the preset genetic algorithm, so as to obtain an updated core board layout. Replace the primary core board layout with the updated core board layout, and return to the process described above using the pre-built digital twin technology; If the similarity score is greater than or equal to the qualified threshold, the primary core board layout is output to obtain the arrangement.
[0007] Optionally, the step of using a pre-constructed conveyor belt drive system to transport the target core plate to a preset positioning area, pausing the conveyor belt drive system, and obtaining the positioned core plate includes: During the process of transporting the target core board to the preset positioning area using a pre-built conveyor belt drive system, the positioning area is monitored using a pre-built imaging device to obtain a positioning image of the core board. Perform object recognition operation based on the core board and the transverse positioning plate on the core board positioning image to obtain the core board outline and the transverse positioning plate outline; Determine whether the core plate outline is empty. If the core plate outline is not empty, limit the transmission speed of the conveyor belt drive system according to the preset easing speed. During the transmission speed limiting process, the core board contour and the transverse positioning plate contour are subjected to a bonding image recognition operation to obtain the bonding recognition result; When the fit recognition result indicates that the core board outline touches the outline of the transverse positioning plate, and the core board outline is parallel or perpendicular to the outline of the transverse positioning plate, the conveyor belt drive system is paused, and the target core board is pushed against the pre-built vertical positioning plate using a pre-built cylinder pusher plate to obtain a positioned core board.
[0008] Optionally, the step of performing object recognition operation on the core board positioning image based on the core board and the transverse positioning plate to obtain the core board outline and the transverse positioning plate outline includes: The core board positioning image is subjected to Gaussian filtering to obtain a noise-reduced positioning area image; The image of the noise-reduced localization area is converted to grayscale to obtain a grayscale image, and the grayscale image is then binarized to obtain a binarized image. Edge detection is performed on the binarized image to obtain a set of object boxes; A time-series-based classification operation is performed on the object frame set to obtain the core board outline and the lateral positioning plate outline.
[0009] Optionally, the step of using a pre-built brick-preparing robot to grip and place the positioned core board into a pre-built fabric-laying workbench according to the arrangement method to obtain the core board to be laid includes: The arrangement methods are sequentially numbered to obtain an arrangement number sequence; Obtain the existing core plate from the pre-built cloth worktable to get the outline of the existing core plate; The existing core board outline is used to mask the arrangement, resulting in a set of remaining arrangement positions; According to the arrangement number sequence, the remaining arrangement position corresponding to the smallest arrangement number in the set of remaining arrangement positions is taken as the position to be placed; Using a pre-built brick-preparing robot, the positioned core board is placed at the desired placement position to obtain the core board to be laid.
[0010] Optionally, placing the sequence of fabric core panels onto a pre-constructed continuously operating production line includes: Acquire backlight images of the sequence of fabric core panels to be fabricated; Using a pre-built edge detection algorithm, the core board gap in the backlight image is identified to obtain a core board gap marking box; Based on the core board dimensions, the gap marking frame of the core board is distance-identified to obtain the gap width; The core board gap marking frame is used for angle identification to obtain the gap angle; Based on the preset fabric interval, the arrangement deviation of the gap angle and gap width is identified to obtain the offset vector; Using a pre-built servo motor, an electrical control signal for the offset vector is generated, and the electrical control signal is used to control the brick-laying robot to fine-tune the distribution of the core board sequence to be laid, thereby obtaining a corrected core board sequence. The modified core board sequence is placed on a pre-built, continuously operating production line.
[0011] To achieve the above objectives, the present invention also provides an automatic ceramic tile core board feeding system based on multi-robotic arm collaboration, comprising: The layout recognition module is used to identify the core board layout of the user-input tile specifications based on the pre-built core board size using a pre-built central control panel, and obtain batch values and arrangement methods. An initialization positioning module is used to sequentially obtain target core boards from a pre-built core board set, use a pre-built conveyor belt drive system to transport the target core board to a preset positioning area, pause the conveyor belt drive system, and obtain the positioned core board. The brick preparation module is used to use a pre-built brick preparation robot to grab and place the positioned core board into a pre-built material placement table according to the arrangement, so as to obtain the core board to be placed, restart the conveyor belt transmission system, and return to the above steps of sequentially obtaining the target core board from the pre-built core board set. The brick-laying module is used to obtain the number of core boards to be laid in the fabric-laying workbench, the number of core boards already grasped, and to determine whether the number of core boards already grasped is less than the batch value. When the number of core boards already grasped is less than the batch value, the module returns to the step of obtaining the number of core boards already grasped in the fabric-laying workbench. When the number of core boards already grasped is equal to the batch value, the module uses a pre-built brick-laying robot to simultaneously grasp the number of core boards to be laid in the batch value to obtain a sequence of core boards to be laid, and places the sequence of core boards to be laid on a pre-built continuous operation production line.
[0012] Optionally, the system includes a central control console, a conveyor belt drive system, a brick preparation robot, a material placement workbench, a brick placement robot, and a continuous operation production line; The central control console is used to control the conveyor belt drive system, the brick preparation robot, the brick placement robot, and the continuous operation production line; The conveyor belt drive system is equipped with a cylinder, a cylinder push plate, a horizontal positioning plate, and a vertical positioning plate. Both the brick preparation robot and the brick placement robot are 6-axis robots. The brick preparation robot is used for moving the core plate between the conveyor belt drive system and the brick placement workbench, and the brick placement robot is used for moving the core plate between the brick placement workbench and the continuously operating production line.
[0013] To address the above problems, the present invention also provides an electronic device, the electronic device comprising: Memory, storing at least one instruction; The processor executes the instructions stored in the memory to implement the above-described method for automatic ceramic tile core board feeding based on multi-robotic arm collaboration.
[0014] To address the aforementioned problems, the present invention also provides a computer-readable storage medium storing at least one instruction, which is executed by a processor in an electronic device to implement the above-described method for automatic ceramic tile core board feeding based on multi-robotic arm collaboration.
[0015] To address the problems described in the background section, this invention first initializes the core board position through a mechanical structure by configuring a positioning area. Then, a brick-preparing robot arranges the positioned core boards from the conveyor belt drive system into the laying table according to a layout plan. The laying robot then grabs all the core boards from the laying table at once and fine-tunes the gaps, ensuring high stability and accuracy in the sequence of core boards placed on the continuously operating production line, thereby improving tile quality. This invention also saves labor costs through production line control, significantly increasing production speed. Therefore, this invention can improve both the production efficiency and quality of tiles. Attached Figure Description
[0016] Figure 1 This is a flowchart illustrating an embodiment of the automatic ceramic tile core board feeding method based on multi-robotic arm collaboration provided by the present invention. Figure 2 This is a functional block diagram of an automatic ceramic tile core board feeding system based on multi-robotic arm collaboration provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of an electronic device for implementing the automatic ceramic tile core board feeding method based on multi-robotic arm collaboration, according to an embodiment of the present invention.
[0017] Explanation of reference numerals in the attached figures: 10. Electronic device; 11. Processor; 12. Memory; 13. Bus.
[0018] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0019] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
[0020] This application provides an automated tile core board placement method based on multi-robotic arm collaboration. The executing entity of this automated tile core board placement method includes, but is not limited to, at least one of the following electronic devices that can be configured to execute the method provided in this application: a server, a terminal, etc. In other words, the automated tile core board placement method based on multi-robotic arm collaboration can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster.
[0021] Reference Figure 1 The diagram shown is a flowchart illustrating an automatic tile core board feeding method based on multi-robotic arm collaboration according to an embodiment of the present invention. In this embodiment, the automatic tile core board feeding method based on multi-robotic arm collaboration includes: S1. Using the pre-built central control panel, based on the pre-built core board size, the core board layout is identified according to the tile specifications input by the user, and batch values and arrangement methods are obtained.
[0022] The central control console refers to the central control equipment used to control the transmission speed of the conveyor belt drive system and the continuously operating production line in this solution, as well as to control the workflow of the brick preparation robot and the brick placement robot.
[0023] The core board is configured with dimensions of 100×200mm.
[0024] The tile specifications refer to the size and type classification of the tiles.
[0025] The core board layout recognition refers to the process of identifying the number of core boards required to cover the tile size, as well as the arrangement order and angle between the core boards.
[0026] The batch size refers to the number of core boards required to cover the specified tile size. The arrangement method refers to the placement of the core boards.
[0027] Specifically, in this embodiment of the invention, the system implemented by the solution includes a central control console, a conveyor belt drive system, a brick preparation robot, a material placement workbench, a brick placement robot, and a continuous production line. The central control console is used to control the conveyor belt drive system, the brick preparation robot, the brick placement robot, and the continuous production line. The conveyor belt drive system is equipped with cylinders, cylinder push plates, horizontal positioning plates, and vertical positioning plates. Both the brick preparation robot and the brick placement robot are 6-axis robots. The brick preparation robot is used for moving the core plate between the conveyor belt drive system and the material placement workbench, and the brick placement robot is used for moving the core plate between the material placement workbench and the continuous production line. The names of the various devices will be described in subsequent embodiments of this invention.
[0028] In detail, in this embodiment of the invention, the step of using a pre-built central control console to identify the core board layout based on the pre-built core board size and the tile specifications input by the user, to obtain batch values and arrangement methods, includes: Obtain the tile specifications input by the user, wherein the tile specifications include the tile's purpose and tile size, and obtain the stress requirements for the tile's purpose; Using a pre-built central control panel, the size of the tile is divided by the size of the pre-built core board to obtain the batch value; The core board dimensions of the batch value are randomly spliced based on the tile specifications to obtain a primary core board layout; Using pre-built digital twin technology, an anisotropic stress simulation analysis is performed on the primary core board layout to obtain the stress analysis results; A pre-built clustering algorithm is used to calculate the similarity between the force analysis results and the force requirements to obtain a similarity score; If the similarity score is less than the preset qualified threshold, the layout recognition model pre-trained in the central control panel is used to perform a core board distribution mutation operation based on the purpose of the tile on the primary core board layout according to the preset genetic algorithm, so as to obtain an updated core board layout. Replace the primary core board layout with the updated core board layout, and return to the process described above using the pre-built digital twin technology; If the similarity score is greater than or equal to the qualified threshold, the primary core board layout is output to obtain the arrangement.
[0029] The term "tile application" refers to the customer's needs for using tiles, such as compressive strength tiles, decorative tiles, easily divisible tiles, and tiles with consistent resistance to stress in all directions. These tile applications are directly related to stress requirements.
[0030] The size of the tile can be configured as 300×600mm.
[0031] The stress requirement refers to the distribution of the stress resistance of the tile in various directions, such as anisotropic tiles and isotropic tiles.
[0032] The division operation refers to the process of calculating the area ratio between the size of the tile and the size of the core board.
[0033] The random splicing operation based on the tile specifications refers to the process of randomly combining the internal core boards based on the tile specifications.
[0034] The primary core board layout refers to the arrangement and position information of each core board.
[0035] The digital twin refers to the technology of constructing a "digital copy" in virtual space that is completely mapped to a physical entity (tile, core board).
[0036] The aforementioned anisotropic stress simulation analysis refers to the process of simulating the physical characteristics of a ceramic tile composed of multiple core boards, thereby predicting the physical characteristics of the ceramic tile in various directions.
[0037] The force analysis results refer to the calculation results of the force simulation analysis process in all directions, such as the force capacity of the tile in the front, back, left, and right directions.
[0038] The clustering algorithm refers to an algorithm that groups items with similar characteristics into one class. This invention uses a clustering algorithm to classify the force analysis results into isotropic or anisotropic.
[0039] The similarity calculation refers to the process of executing a clustering algorithm to identify the probability that the force analysis result belongs to isotropic or anisotropic. The similarity score refers to the calculation result of the similarity calculation process.
[0040] The qualified threshold is configured as 80%.
[0041] The layout recognition model refers to a regression network model that has learned the mapping relationship between the layout of the core board and the stress performance distribution of the finished ceramic tile.
[0042] The genetic algorithm refers to a stochastic optimization algorithm that simulates the biological evolution process, and its process is initialization → evaluation → genetic operation → iteration termination.
[0043] The updated core board layout refers to the primary core board layout after the core board layout has been replaced.
[0044] Specifically, in this embodiment of the invention, the process of initialization → evaluation → genetic operation → iteration termination in a simulated genetic algorithm is used. First, the core board layout is initialized through random combination to obtain a primary core board layout. Then, performance evaluation is performed using digital twins to obtain stress analysis results. Next, genetic operations are performed, such as modifying the arrangement of each core board, to obtain a new core board layout, for example, updating the core board layout. This process is repeated until the updated core board layout achieves a similarity score greater than 80%, indicating that the updated core board layout conforms to the user-input tile specifications, thus obtaining the layout method.
[0045] S2. Sequentially obtain target core boards from the pre-built core board set, use the pre-built conveyor belt drive system to transport the target core board to the preset positioning area, pause the conveyor belt drive system, and obtain the positioned core board.
[0046] The core board set refers to a collection of multiple core boards.
[0047] The target core board refers to any core board in the core board set.
[0048] Specifically, in this embodiment of the invention, a target core board can be extracted and placed onto the conveyor belt drive system every preset time period, such as 1 second.
[0049] The conveyor belt drive system is a conveyor belt that can transport the target core board from one end to the other.
[0050] The positioning area refers to an area at the tail end of the conveyor belt, where a positioning plate can block the core plate from moving forward, thereby achieving core plate positioning.
[0051] The positioned core board refers to the target core board that remains stationary within the positioning area.
[0052] In detail, in this embodiment of the invention, the step of using a pre-constructed conveyor belt drive system to transport the target core plate to a preset positioning area, pausing the conveyor belt drive system, and obtaining the positioned core plate includes: During the process of transporting the target core board to the preset positioning area using a pre-built conveyor belt drive system, the positioning area is monitored using a pre-built imaging device to obtain a positioning image of the core board. Perform object recognition operation based on the core board and the transverse positioning plate on the core board positioning image to obtain the core board outline and the transverse positioning plate outline; Determine whether the core plate outline is empty. If the core plate outline is not empty, limit the transmission speed of the conveyor belt drive system according to the preset easing speed. During the transmission speed limiting process, the core board contour and the transverse positioning plate contour are subjected to a bonding image recognition operation to obtain the bonding recognition result; When the fit recognition result indicates that the core board outline touches the outline of the transverse positioning plate, and the core board outline is parallel or perpendicular to the outline of the transverse positioning plate, the conveyor belt drive system is paused, and the target core board is pushed against the pre-built vertical positioning plate using a pre-built cylinder pusher plate to obtain a positioned core board.
[0053] The image device refers to a device capable of capturing images.
[0054] The image monitoring refers to the process of taking pictures of the positioning area using an image device. The core board positioning image refers to an image of the target core board moving within the positioning area.
[0055] The object recognition operation refers to the process of identifying the core board object and the horizontal positioning plate object through image recognition technology.
[0056] The core plate outline refers to the result of the object recognition operation on the core plate. The transverse positioning plate outline refers to the result of the object recognition operation on the transverse positioning plate outline. The transverse positioning plate refers to a baffle perpendicular to the transmission direction of the conveyor belt drive system.
[0057] Specifically, when the core board outline is empty, it indicates that no core board has appeared in the positioning area. When the core board outline is not empty, it indicates that a core board has appeared in the positioning area.
[0058] The easing speed is half the transmission speed of the conveyor belt drive system, and is used to reduce the impact force between the core plate and the transverse positioning plate.
[0059] The transmission speed limit refers to the process of operating the conveyor belt drive system according to the easing speed.
[0060] The bonding image recognition operation refers to the process of recognizing the distance and angle between the core board outline and the transverse positioning plate outline through image recognition. The bonding recognition result refers to the recognized distance and angle between the core board outline and the transverse positioning plate outline.
[0061] The cylinder pusher plate refers to a baffle mounted on a cylinder that can push the target core plate closer to the vertical positioning plate. The vertical positioning plate is a baffle parallel to the transmission direction of the conveyor belt drive system. The cylinder refers to a device driven by gas pressure.
[0062] Specifically, in this embodiment of the invention, an image of the positioning area at the tail end of the conveyor belt drive system is first acquired to obtain a core plate positioning image. Then, by image recognition, it is determined whether the target core plate has entered the positioning area. When the target core plate has not entered the positioning area, it can be conveyed according to the default transmission speed. When the target core plate enters the positioning area (i.e., when the core plate outline is not empty), the transmission speed of the conveyor belt drive system can be limited by a preset easing speed, thereby reducing the impact force between the target core plate and the transverse positioning plate, which facilitates the subsequent positioning of the target core plate.
[0063] Specifically, in this embodiment of the invention, when the core board outline touches the outline of the horizontal positioning plate, and the core board outline is parallel or perpendicular to the outline of the horizontal positioning plate, it indicates that the target core board is completely stopped on the horizontal positioning plate. Then, the target core board can be pushed to the vertical positioning plate by the cylinder pusher plate. At this time, the target core board is simultaneously against the horizontal positioning plate and the vertical positioning plate, thereby realizing the positioning process of the target core board and obtaining the positioned core board.
[0064] In detail, in this embodiment of the invention, the step of performing object recognition operation based on the core board and the transverse positioning plate on the core board positioning image to obtain the core board outline and the transverse positioning plate outline includes: The core board positioning image is subjected to Gaussian filtering to obtain a noise-reduced positioning area image; The image of the noise-reduced localization area is converted to grayscale to obtain a grayscale image, and the grayscale image is then binarized to obtain a binarized image. Edge detection is performed on the binarized image to obtain a set of object boxes; A time-series-based classification operation is performed on the object frame set to obtain the core board outline and the lateral positioning plate outline.
[0065] The Gaussian filtering process refers to a linear smoothing filtering method based on the Gaussian function, which can be used to smooth noisy data in an image, thereby achieving image denoising. The denoising localization area image refers to the core board localization image after Gaussian filtering.
[0066] The grayscale processing refers to the process of converting a color image of the noise-reduced localization area into a value between 0 and 225. The grayscale image refers to the noise-reduced localization area image after grayscale processing.
[0067] The binarization process refers to the method of converting pixel values in a grayscale image to 0 or 225. The binarized image refers to the grayscale image after binarization.
[0068] Edge recognition refers to the process of identifying the boundaries of various target objects in an image using image recognition technology. The object box set refers to the set of boundaries of each identified object in the binarized image.
[0069] The classification operation based on time-series changes refers to the process of inferring the type of object frame based on whether each object frame in the object frame set changes over time. For example, the moving object frame is the core board outline of the target core board, while the object frame that does not move over time is the horizontal positioning board outline of the horizontal positioning board.
[0070] Specifically, in this embodiment of the invention, the core board positioning image is first denoised using a Gaussian filtering algorithm to obtain a denoised positioning area image. Then, the denoised positioning area image is reduced in dimensionality by an order of magnitude using a grayscale method to obtain a grayscale image. Finally, the grayscale image is reduced in dimensionality again using binarization to obtain a binarized image.
[0071] Specifically, this invention can perform edge recognition on a binarized image to obtain the contours of each object in the positioning area, thus obtaining a set of object boxes. Finally, since the target core board moves over time on the conveyor belt drive system, while the transverse positioning plate remains relatively constant with respect to the conveyor belt drive system, the object box set is classified through a time-series-based classification operation to obtain the core board contour and the transverse positioning plate contour.
[0072] S3. Using the pre-built brick preparation robot, according to the arrangement, the positioned core board is gripped and placed into the pre-built material placement table to obtain the core board to be placed, and the conveyor belt transmission system is restarted, and the steps of sequentially obtaining the target core board from the pre-built core board set are returned.
[0073] The brick-preparing robot is a 6-axis robot that can move the positioned core board in the conveyor belt drive system to the material-laying worktable.
[0074] The core board to be laid refers to the positioned core board placed on the fabric workbench.
[0075] In detail, in this embodiment of the invention, the method of using a pre-constructed brick-preparing robot to grab and place the positioned core board into a pre-constructed fabric-laying workbench according to the arrangement to obtain the core board to be laid includes: The arrangement methods are sequentially numbered to obtain an arrangement number sequence; Obtain the existing core plate from the pre-built cloth worktable to get the outline of the existing core plate; The existing core board outline is used to mask the arrangement, resulting in a set of remaining arrangement positions; According to the arrangement number sequence, the remaining arrangement position corresponding to the smallest arrangement number in the set of remaining arrangement positions is taken as the position to be placed; Using a pre-built brick-preparing robot, the positioned core board is placed at the desired placement position to obtain the core board to be laid.
[0076] The sequential numbering refers to the process of numbering the positions of each core board in the arrangement according to a left-to-right or top-to-bottom order. The arrangement number sequence refers to the order in which the core boards are arranged in the arrangement.
[0077] The term "existing core board" refers to all the positioned core boards that have been previously stored in the fabric worktable when a positioned core board is placed on it. The term "existing core board outline" refers to the overall outline of all the positioned core boards that have been stored.
[0078] The occlusion process refers to the process of proportionally covering the existing core board outline with the arrangement. For example, if the arrangement is a 5×5 data matrix and the core board outline is a 3×5 data matrix, when the core board outline occludes the arrangement, 2×5 data will remain unoccluded in the arrangement, thus obtaining the set of remaining arrangement positions.
[0079] The remaining arrangement position set refers to the arrangement positions of each core board that are not obscured by the outline of the existing core board in the arrangement method. The arrangement method of this invention includes a sequence of arrangement numbers for each core board, so each core board in the remaining arrangement position set also has a corresponding arrangement number. This invention obtains the arrangement number with the smallest value in the remaining arrangement position set to determine the position where the core board will be placed.
[0080] The location to be placed refers to the position where the existing core board outline will be placed.
[0081] Specifically, in this embodiment of the invention, each core board position in the arrangement is first numbered to obtain an arrangement number sequence. Then, each time a positioned core board is placed, the outline of the existing core board is detected. By comparing the outline of the existing core board with the arrangement number sequence, the set of remaining arrangement positions is found, and the remaining arrangement position corresponding to the smallest arrangement number is queried as the position to be placed. Thus, the positioned core board is placed on the position to be placed to obtain the core board to be laid.
[0082] Specifically, in this embodiment of the invention, when the positioned core plate is placed on the position to be placed, it indicates that the positioned core plate on the conveyor belt drive system has left, and the conveyor belt drive system can be started to replenish the new positioned core plate.
[0083] S4. Obtain the number of core boards to be fabricated in the fabric workbench, and obtain the number of core boards that have been grabbed.
[0084] The number of core boards that have been grabbed refers to the number of core boards to be laid in the fabric laying workbench.
[0085] Specifically, the present invention can use a counter to count the number of core boards to be fabricated in the fabric workbench and obtain the number of core boards that have been grabbed.
[0086] S5. Determine whether the number of core boards already grabbed is less than the batch value.
[0087] Specifically, in this embodiment of the invention, it is necessary to obtain the number of core boards that have been grabbed in order to determine whether all the core boards required for a batch of tiles have been collected, and then determine whether the next step of tile making can be carried out.
[0088] When the number of core boards already gripped is less than the batch value, return to the step of obtaining the number of core boards already gripped in the fabric workbench.
[0089] Specifically, in this embodiment of the invention, when the number of core boards already grabbed is less than the batch value, it indicates that the number of core boards required for a tile is not complete, and it is necessary to continue to acquire core boards to be laid.
[0090] When the number of core boards already grasped is equal to the batch value, S6, using a pre-built brick-laying robot, the number of core boards to be laid in the batch value are grasped simultaneously to obtain a sequence of core boards to be laid, and the sequence of core boards to be laid is placed on a pre-built continuous operation production line.
[0091] When the number of core boards that have been grabbed is equal to the batch value, it indicates that the required number of core boards for a tile has been collected and can be placed on a continuously operating production line for subsequent production processes.
[0092] The brick-laying robot refers to a 6-axis robot used to grab all the core boards to be laid in a batch at once, thereby ensuring the integrity of the core boards to be laid in a batch.
[0093] The sequence of core boards to be laid refers to the total number of core boards to be laid in batches.
[0094] The continuously operating production line refers to an automated production line for pressing, drying, glazing, and firing ceramic tiles.
[0095] In detail, in this embodiment of the invention, placing the sequence of fabric core boards onto a pre-constructed continuously operating production line includes: Acquire backlight images of the sequence of fabric core panels to be fabricated; Using a pre-built edge detection algorithm, the core board gap in the backlight image is identified to obtain a core board gap marking box; Based on the core board dimensions, the gap marking frame of the core board is distance-identified to obtain the gap width; The core board gap marking frame is used for angle identification to obtain the gap angle; Based on the preset fabric interval, the arrangement deviation of the gap angle and gap width is identified to obtain the offset vector; Using a pre-built servo motor, an electrical control signal for the offset vector is generated, and the electrical control signal is used to control the brick-laying robot to fine-tune the distribution of the core board sequence to be laid, thereby obtaining a corrected core board sequence. The modified core board sequence is placed on a pre-built, continuously operating production line.
[0096] The backlit image refers to the image of the fabric core board sequence placed on a light source.
[0097] The edge detection algorithm refers to the algorithm for detecting the boundaries of each core board.
[0098] The core board gap refers to the gap between adjacent core board boundaries.
[0099] The core board gap marking frame refers to the frame used to mark the gap between the core boards.
[0100] The distance recognition refers to the process of identifying the ratio between the core board size and the gap distance in the core board based on the size of the core board in the image, thereby calculating the width of the core board gap marking frame. The gap width refers to the distance recognition result.
[0101] The angle recognition refers to identifying the included angle between two sides of the core board gap marking frame. The gap angle refers to the result of the angle recognition; if the boundaries of adjacent core boards are parallel, the gap angle between the core boards is zero.
[0102] The fabric spacing refers to the spacing distance between core boards preset by the enterprise, which is configured to be 3mm in this invention.
[0103] The offset vector refers to the recognition result of the layout deviation recognition operation, including distance and angle.
[0104] The servo motor refers to a device that converts the offset vector into an adjustable electrical signal. The electrical control signal refers to the signal required to control the brick-laying robot to complete the offset vector operation.
[0105] The aforementioned distribution fine-tuning refers to the process of adjusting the gap size and angle between each core board in the fabric core board sequence. The corrected core board sequence refers to the fabric core board sequence that has undergone distribution fine-tuning.
[0106] Specifically, in this embodiment of the invention, a pre-constructed light source is first used to illuminate the sequence of fabric core boards, and then a backlit image is taken from the other side of the sequence of fabric core boards to be laid. The backlit image can effectively observe the gaps between each fabric core board in the sequence of fabric core boards to be laid, and obtain a core board gap marking frame.
[0107] Specifically, in this embodiment of the invention, the gap between the core boards is identified by distance based on the core board image and core board size in the backlight image to obtain the gap width. Then, the angle of the edge in the core board gap marking frame is identified to obtain the gap angle. By comparing the gap angle with 0 degrees and the gap width with 3mm, the offset vector that the core board needs to move is obtained. Then, the offset vector is converted by the servo electrode to obtain the electrical control signal. Then, the electrical control signal is used to fine-tune the distribution of the core board sequence of the fabric to be processed to obtain the corrected core board sequence.
[0108] In detail, in this embodiment of the invention, after placing the sequence of fabric core boards to be laid onto the pre-constructed continuously operating production line, the method further includes: Using a pre-built hydraulic press in the continuously operating production line, the sequence of core boards to be laid is pressed with the pre-built fabric layer to obtain a ceramic tile blank; Using a pre-constructed hot air circulation system, the ceramic tile blank is dried to a preset humidity range to obtain a dried ceramic tile blank; The dried brick blank is sprayed with a pre-constructed glaze to obtain a glazed brick blank, and the glazed brick blank is fired using a pre-constructed kiln equipment to obtain the desired ceramic tile.
[0109] The hydraulic press refers to a device that uses hydraulic pressure to extrude a core plate.
[0110] The fabric layer refers to the decorative layer of the core board, which is obtained by covering the core board with fabric powder and then using a hydraulic press to extrude the core board and the fabric powder together.
[0111] The pressing refers to the process of using a hydraulic press to extrude the core board and fabric powder. The ceramic tile blank refers to the combination of the fabric layer and the core board sequence to be laid.
[0112] The hot air circulation system refers to the equipment that controls the temperature (100-150℃) and wind speed (0.5-1m / s) for drying ceramic tile blanks.
[0113] The humidity range is configured to be less than 0.5%.
[0114] The dried brick blank refers to a ceramic tile blank with a moisture content of less than 0.5%.
[0115] The glaze refers to a vitreous coating whose main components are quartz, feldspar, kaolin, etc.
[0116] The spraying process refers to the process of turning glaze into droplets through pressurization. The glazed brick blank refers to a dried brick blank that has been sprayed with glaze.
[0117] The furnace equipment refers to equipment that can heat up and bake glazed brick blanks.
[0118] The firing process involves causing physicochemical changes in the brick blank and glaze at high temperatures (1100-1300℃). The desired ceramic tile refers to a glazed brick blank that has been fired.
[0119] Specifically, in this embodiment of the invention, the arranged core board sequence to be laid is stacked with the fabric layer, and then pressed using a hydraulic press to obtain a ceramic tile blank. Since the ceramic tile blank still contains a lot of moisture, in order to avoid cracking during the firing process, a pre-constructed hot air circulation system is used to dry the ceramic tile blank to less than 0.5% moisture content, resulting in a dried ceramic tile blank. Then, a spraying device is used to spray a pre-constructed glaze onto the dried ceramic tile blank to obtain a glazed ceramic tile blank.
[0120] Specifically, this invention utilizes a pre-constructed kiln equipment to fire glazed brick blanks to obtain the desired ceramic tiles.
[0121] In detail, in this embodiment of the invention, after obtaining the desired tile, the method further includes: Using pre-built testing equipment, the desired ceramic tile is subjected to product quality testing to obtain stress test results; Key-value pairs are constructed based on the arrangement and the force detection results to obtain the actual detection sample; The layout recognition model is trained using the real detection samples to obtain an optimized layout recognition model.
[0122] The testing equipment refers to equipment such as presses and vibrators.
[0123] The quality inspection refers to the process of measuring the tile's resistance to vibration, impact, and pressure. The stress test result refers to the expected quality inspection result of the tile.
[0124] Here, the key-value pair refers to a data storage method used to construct the data relationship between the arrangement and the force detection results. The actual detection sample refers to the key-value pair constructed from the arrangement and the force detection results.
[0125] The training refers to the process of updating the network parameters in the layout recognition model using the cross-entropy loss algorithm, gradient descent algorithm, and network inverse update process. The optimized layout recognition model refers to the layout recognition model trained on real detection samples.
[0126] Specifically, in this embodiment of the invention, whether the layout result of the layout recognition model is qualified still needs to be verified by actual testing of the tiles. This invention will construct key-value pairs for the arrangement method and the force detection result to obtain real detection samples, and then use the real detection samples to train and optimize the layout recognition model to obtain an optimized layout recognition model.
[0127] To address the problems described in the background section, this invention first initializes the core board position through a mechanical structure by configuring a positioning area. Then, a brick-preparing robot arranges the positioned core boards from the conveyor belt drive system into the laying table according to a layout plan. The laying robot then grabs all the core boards from the laying table at once and fine-tunes the gaps, ensuring high stability and accuracy in the sequence of core boards placed on the continuously operating production line, thereby improving tile quality. This invention also saves labor costs through production line control, significantly increasing production speed. Therefore, this invention can improve both the production efficiency and quality of tiles.
[0128] like Figure 2 The diagram shown is a functional block diagram of an automatic ceramic tile core board feeding system based on multi-robotic arm collaboration provided in an embodiment of the present invention.
[0129] The automatic tile core board laying system 100 based on multi-robotic arm collaboration described in this invention can be installed in an electronic device. Depending on the functions implemented, the automatic tile core board laying system 100 may include a layout recognition module 101, an initialization positioning module 102, a tile preparation module 103, and a tile laying module 104. The module described in this invention can also be called a unit, referring to a series of computer program segments that can be executed by the processor of an electronic device and can perform a fixed function, stored in the memory of the electronic device.
[0130] The layout recognition module 101 is used to use a pre-built central control console to perform core board layout recognition on the tile specifications input by the user according to the pre-built core board size, and obtain batch values and arrangement methods. The initialization positioning module 102 is used to sequentially obtain target core boards from the pre-built core board set, use the pre-built conveyor belt transmission system to transport the target core board to the preset positioning area, pause the conveyor belt transmission system, and obtain the positioned core board. The brick preparation module 103 is used to use a pre-built brick preparation robot to grab and place the positioned core board into a pre-built material placement table according to the arrangement, to obtain the core board to be placed, and restart the conveyor belt transmission system, and return to the above steps of sequentially obtaining the target core board from the pre-built core board set. The brick-laying module 104 is used to obtain the number of core boards to be laid in the laying workbench, obtain the number of core boards already grasped, and determine whether the number of core boards already grasped is less than the batch value. When the number of core boards already grasped is less than the batch value, the module returns to the step of obtaining the number of core boards already grasped in the laying workbench. When the number of core boards already grasped is equal to the batch value, the module uses a pre-built brick-laying robot to simultaneously grasp the number of core boards to be laid in the batch value to obtain a sequence of core boards to be laid, and places the sequence of core boards to be laid on a pre-built continuous operation production line.
[0131] In detail, the modules in the automatic ceramic tile core board feeding system 100 based on multi-robotic arm collaboration described in this embodiment of the invention employ the same methods as described above. Figure 1 The method described above uses the same technical means as the automatic ceramic tile core board feeding method based on multi-robotic arm collaboration, and can produce the same technical effect, so it will not be repeated here.
[0132] like Figure 3 The diagram shown is a structural schematic of an electronic device for implementing an automatic ceramic tile core board feeding method based on multi-robotic arm collaboration, according to an embodiment of the present invention.
[0133] The electronic device 1 may include a processor 10, a memory 11 and a bus 12, and may also include a computer program stored in the memory 11 and capable of running on the processor 10, such as a method program for automatic material distribution of ceramic tile core board based on multi-robotic arm collaboration.
[0134] The memory 11 includes at least one type of readable storage medium, such as flash memory, portable hard drive, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 11 can be an internal storage unit of the electronic device 1, such as the portable hard drive of the electronic device 1. In other embodiments, the memory 11 can be an external storage device of the electronic device 1, such as a plug-in portable hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the electronic device 1. Furthermore, the memory 11 includes both internal storage units and external storage devices of the electronic device 1. The memory 11 can be used not only to store application software and various types of data installed on the electronic device 1, such as the code of a method program for automatic tile core board laying based on multi-robotic arm collaboration, but also to temporarily store data that has been output or will be output.
[0135] In some embodiments, the processor 10 may be composed of integrated circuits, such as a single packaged integrated circuit or multiple integrated circuits with the same or different functions, including combinations of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The processor 10 is the control unit of the electronic device, connecting various components of the entire electronic device through various interfaces and lines. It executes programs or modules stored in the memory 11 (e.g., a method for automatically laying ceramic tile core boards based on multi-robotic arm collaboration) and calls data stored in the memory 11 to perform various functions of the electronic device 1 and process data.
[0136] The bus 12 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus 12 can be divided into an address bus, a data bus, a control bus, etc. The bus 12 is configured to realize the connection and communication between the memory 11 and at least one processor 10, etc.
[0137] Figure 3 Only electronic devices with components are shown; those skilled in the art will understand that... Figure 3 The structure shown does not constitute a limitation on the electronic device 1, and may include fewer or more components than shown, or combine certain components, or have different component arrangements.
[0138] For example, although not shown, the electronic device 1 may also include a power supply (such as a battery) to power the various components. Preferably, the power supply can be logically connected to the at least one processor 10 through a power management device, thereby enabling functions such as charging management, discharging management, and power consumption management. The power supply may also include one or more DC or AC power supplies, recharging devices, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components. The electronic device 1 may also include various sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be described in detail here.
[0139] Furthermore, the electronic device 1 may also include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a Wi-Fi interface, a Bluetooth interface, etc.), which is typically used to establish communication connections between the electronic device 1 and other electronic devices.
[0140] Optionally, the electronic device 1 may further include a user interface, which may be a display, an input unit (such as a keyboard), or a standard wired or wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen, etc. The display may also be appropriately referred to as a screen or display unit, used to display information processed in the electronic device 1 and to display a visual user interface.
[0141] The program for an automatic tile core board placement method based on multi-robotic arm collaboration, stored in the memory 11 of the electronic device 1, is a combination of multiple instructions. When run in the processor 10, it can achieve the following: Using a pre-built central control console, the core board layout is identified based on the pre-built core board size and the tile specifications input by the user, to obtain batch values and arrangement methods; Target core boards are sequentially obtained from a pre-built set of core boards. The target core boards are then transported to a preset positioning area using a pre-built conveyor belt drive system. The conveyor belt drive system is then paused to obtain the positioned core board. Using a pre-built brick-preparing robot, the positioned core board is gripped and placed into a pre-built material-laying workbench according to the arrangement, to obtain the core board to be laid, and the conveyor belt drive system is restarted, and the steps of sequentially obtaining the target core board from the pre-built core board set are returned. Obtain the number of core boards to be fabricated in the fabric workbench, and get the number of core boards that have been grabbed; Determine whether the number of core boards already grabbed is less than the batch value; When the number of core boards already gripped is less than the batch value, return to the step of obtaining the number of core boards already gripped in the fabric workbench; When the number of core boards already grasped is equal to the batch value, the pre-built brick-laying robot simultaneously grasps the number of core boards to be laid, obtaining a sequence of core boards to be laid, and then places the sequence of core boards to be laid onto the pre-built continuous production line.
[0142] Specifically, the processor 10's implementation method for the above instructions can be found in [reference needed]. Figures 1 to 3 The descriptions of the relevant steps in the corresponding embodiments are not repeated here.
[0143] Furthermore, if the modules / units integrated in the electronic device 1 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, or a read-only memory (ROM).
[0144] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor of an electronic device, can perform the following: Using a pre-built central control console, the core board layout is identified based on the pre-built core board size and the tile specifications input by the user, to obtain batch values and arrangement methods; Target core boards are sequentially obtained from a pre-built set of core boards. The target core boards are then transported to a preset positioning area using a pre-built conveyor belt drive system. The conveyor belt drive system is then paused to obtain the positioned core board. Using a pre-built brick-preparing robot, the positioned core board is gripped and placed into a pre-built material-laying workbench according to the arrangement, to obtain the core board to be laid, and the conveyor belt drive system is restarted, and the steps of sequentially obtaining the target core board from the pre-built core board set are returned. Obtain the number of core boards to be fabricated in the fabric workbench, and get the number of core boards that have been grabbed; Determine whether the number of core boards already grabbed is less than the batch value; When the number of core boards already gripped is less than the batch value, return to the step of obtaining the number of core boards already gripped in the fabric workbench; When the number of core boards already grasped is equal to the batch value, the pre-built brick-laying robot simultaneously grasps the number of core boards to be laid, obtaining a sequence of core boards to be laid, and then places the sequence of core boards to be laid onto the pre-built continuous production line.
[0145] In the embodiments provided by this invention, it should be understood that the disclosed devices, systems, and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative, and actual implementations may have other classification methods.
[0146] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.
[0147] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.
[0148] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.
[0149] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims
1. A method for automatic ceramic tile core board feeding based on multi-robotic arm collaboration, characterized in that, The method includes: Using a pre-built central control console, the core board layout is identified based on the pre-built core board size and the tile specifications input by the user, to obtain batch values and arrangement methods; Target core boards are sequentially obtained from a pre-built set of core boards. The target core boards are then transported to a preset positioning area using a pre-built conveyor belt drive system. The conveyor belt drive system is then paused to obtain the positioned core board. Using a pre-built brick-preparing robot, the positioned core board is gripped and placed into a pre-built material-laying workbench according to the arrangement, to obtain the core board to be laid, and the conveyor belt drive system is restarted, and the steps of sequentially obtaining the target core board from the pre-built core board set are returned. Obtain the number of core boards to be fabricated in the fabric workbench, and get the number of core boards that have been grabbed; Determine whether the number of core boards already grabbed is less than the batch value; When the number of core boards already gripped is less than the batch value, return to the step of obtaining the number of core boards already gripped in the fabric workbench; When the number of core boards already grasped is equal to the batch value, the pre-built brick-laying robot simultaneously grasps the number of core boards to be laid, obtaining a sequence of core boards to be laid, and then places the sequence of core boards to be laid onto the pre-built continuous production line.
2. The automatic ceramic tile core board feeding method based on multi-robotic arm collaboration as described in claim 1, characterized in that, The process of utilizing a pre-built central control console to identify the core board layout based on the pre-built core board dimensions and the tile specifications input by the user, thereby obtaining batch values and arrangement methods, includes: Obtain the tile specifications input by the user, wherein the tile specifications include the tile's purpose and tile size, and obtain the stress requirements for the tile's purpose; Using a pre-built central control panel, the size of the tile is divided by the size of the pre-built core board to obtain the batch value; The core board dimensions of the batch value are randomly spliced based on the tile specifications to obtain a primary core board layout; Using pre-built digital twin technology, an anisotropic stress simulation analysis is performed on the primary core board layout to obtain the stress analysis results; A pre-built clustering algorithm is used to calculate the similarity between the force analysis results and the force requirements to obtain a similarity score; If the similarity score is less than the preset qualified threshold, the layout recognition model pre-trained in the central control panel is used to perform a core board distribution mutation operation based on the purpose of the tile on the primary core board layout according to the preset genetic algorithm, so as to obtain an updated core board layout. Replace the primary core board layout with the updated core board layout, and return to the process described above using the pre-built digital twin technology; If the similarity score is greater than or equal to the qualified threshold, the primary core board layout is output to obtain the arrangement.
3. The automatic ceramic tile core board feeding method based on multi-robotic arm collaboration as described in claim 2, characterized in that, The process of using a pre-constructed conveyor belt drive system to transport the target core plate to a preset positioning area, pausing the conveyor belt drive system, and obtaining the positioned core plate includes: During the process of transporting the target core board to the preset positioning area using a pre-built conveyor belt drive system, the positioning area is monitored using a pre-built imaging device to obtain a positioning image of the core board. Perform object recognition operation based on the core board and the transverse positioning plate on the core board positioning image to obtain the core board outline and the transverse positioning plate outline; Determine whether the core plate outline is empty. If the core plate outline is not empty, limit the transmission speed of the conveyor belt drive system according to the preset easing speed. During the transmission speed limiting process, the core board contour and the transverse positioning plate contour are subjected to a bonding image recognition operation to obtain the bonding recognition result; When the fit recognition result indicates that the core board outline touches the outline of the transverse positioning plate, and the core board outline is parallel or perpendicular to the outline of the transverse positioning plate, the conveyor belt drive system is paused, and the target core board is pushed against the pre-built vertical positioning plate using a pre-built cylinder pusher plate to obtain a positioned core board.
4. The automatic ceramic tile core board feeding method based on multi-robotic arm collaboration as described in claim 3, characterized in that, The step of performing object recognition operations based on the core board and the lateral positioning plate on the core board positioning image to obtain the core board outline and the lateral positioning plate outline includes: The core board positioning image is subjected to Gaussian filtering to obtain a noise-reduced positioning area image; The image of the noise-reduced localization area is converted to grayscale to obtain a grayscale image, and the grayscale image is then binarized to obtain a binarized image. Edge detection is performed on the binarized image to obtain a set of object boxes; A time-series-based classification operation is performed on the object frame set to obtain the core board outline and the lateral positioning plate outline.
5. The automatic ceramic tile core board feeding method based on multi-robotic arm collaboration as described in claim 4, characterized in that, The method of using a pre-built brick-preparing robot to pick up and place the positioned core board into a pre-built material-laying workbench according to the arrangement, thereby obtaining the core board to be laid, includes: The arrangement methods are sequentially numbered to obtain an arrangement number sequence; Obtain the existing core plate from the pre-built cloth worktable to get the outline of the existing core plate; The existing core board outline is used to mask the arrangement, resulting in a set of remaining arrangement positions; According to the arrangement number sequence, the remaining arrangement position corresponding to the smallest arrangement number in the set of remaining arrangement positions is taken as the position to be placed; Using a pre-built brick-preparing robot, the positioned core board is placed at the desired placement position to obtain the core board to be laid.
6. The automatic ceramic tile core board feeding method based on multi-robotic arm collaboration as described in claim 5, characterized in that, The step of placing the sequence of fabric core boards onto a pre-constructed continuously operating production line includes: Acquire backlight images of the sequence of fabric core panels to be fabricated; Using a pre-built edge detection algorithm, the core board gap in the backlight image is identified to obtain a core board gap marking box; Based on the core board dimensions, the gap marking frame of the core board is distance-identified to obtain the gap width; The core board gap marking frame is used for angle identification to obtain the gap angle; Based on the preset fabric interval, the arrangement deviation of the gap angle and gap width is identified to obtain the offset vector; Using a pre-built servo motor, an electrical control signal for the offset vector is generated, and the electrical control signal is used to control the brick-laying robot to fine-tune the distribution of the core board sequence to be laid, thereby obtaining a corrected core board sequence. The modified core board sequence is placed on a pre-built, continuously operating production line.
7. An automatic ceramic tile core board feeding system based on multi-robotic arm collaboration, characterized in that, The system includes: The layout recognition module is used to identify the core board layout of the user-input tile specifications based on the pre-built core board size using a pre-built central control panel, and obtain batch values and arrangement methods. An initialization positioning module is used to sequentially obtain target core boards from a pre-built core board set, use a pre-built conveyor belt drive system to transport the target core board to a preset positioning area, pause the conveyor belt drive system, and obtain the positioned core board. The brick preparation module is used to use a pre-built brick preparation robot to grab and place the positioned core board into a pre-built material placement table according to the arrangement, so as to obtain the core board to be placed, restart the conveyor belt transmission system, and return to the above steps of sequentially obtaining the target core board from the pre-built core board set. The brick-laying module is used to obtain the number of core boards to be laid in the fabric-laying workbench, the number of core boards already grasped, and to determine whether the number of core boards already grasped is less than the batch value. When the number of core boards already grasped is less than the batch value, the module returns to the step of obtaining the number of core boards already grasped in the fabric-laying workbench. When the number of core boards already grasped is equal to the batch value, the module uses a pre-built brick-laying robot to simultaneously grasp the number of core boards to be laid in the batch value to obtain a sequence of core boards to be laid, and places the sequence of core boards to be laid on a pre-built continuous operation production line.
8. The automatic ceramic tile core board feeding system based on multi-robotic arm collaboration as described in claim 7, characterized in that, The system includes a central control console, a conveyor belt drive system, a brick preparation robot, a material placement workbench, a brick placement robot, and a continuous production line. The central control console is used to control the conveyor belt drive system, the brick preparation robot, the brick placement robot, and the continuous operation production line; The conveyor belt drive system is equipped with a cylinder, a cylinder push plate, a horizontal positioning plate, and a vertical positioning plate. Both the brick preparation robot and the brick placement robot are 6-axis robots. The brick preparation robot is used for moving the core plate between the conveyor belt drive system and the brick placement workbench, and the brick placement robot is used for moving the core plate between the brick placement workbench and the continuously operating production line.