The system consists of stm32 microcontroller, EST8266WIFI module, UWB module, gravity sensor, speed sensor, laser ranging sensor, ultrasonic sensor, OLED display, air pump, camera, stepper motor and other components. It can be used independently, and can also be used with corresponding WeChat applets or web pages to realize the real unmanned intelligent brick paving function. Its characteristics set the automatic control and environmental detection and PID algorithm (mainly through the sensor monitoring real-time environment, PID correction trajectory) to make the brick machine run automatically. In the simulation study, the working framework of the machine is built and the basic action scheme is realized by SolidWorks carrying out 3D simulation experiment environment, so as to simulate and verify the equipment. In the actual study, the perception system built by various sensors obtains and records the rotation speed of the machine wheel, the distance between the front and rear walls, and the weight of bricks to explore the influence of the rotation speed of the wheel and the weight of the bricks on the stability of the machine; the pid algorithm written in the embedded system is used to adjust the difference and no difference, and multiple sets of data are recorded. MATLAB simulation is used to obtain the relationship curve. The response time and oscillation frequency of the comprehensive experiment are used to adjust the values of kp,ki and kd, so as to achieve the stable operation of the machine and the effect of controlling the deviation. The main functions of the intelligent tiling system are: autonomous operation, real-time positioning, remote monitoring, intelligent detection, error warning, and personalized function selection. ◆ Real-time monitoring of decoration environment-real-time monitoring of obstacles and distance from the wall through combined sensors. ◆ Abnormal working state alarm-transmitted to the client and on-site bell warning when the machine cannot operate normally due to bumpy situation, insufficient electricity, obstacles ahead, lack of bricks, etc. ◆ Intelligent brick laying machine-the decoration staff will automatically lay bricks periodically after inputting parameters, and at the same time carry out mechanical operation and maintenance operations and data transmission together with the client. ◆ Real-time graph of machine work-when the machine is running normally, the staff can check the running progress of the machine through mobile phone or computer to monitor in real time. ◆ Machine supervision platform-provide machine supervision, set house and brick parameters and machine working parameters. CHAPTER TWO CHARACTERISTICS AND INNOVATION (This chapter mainly describes the advantages and innovations of the work compared with other existing technologies or applications) 2.1 characteristic innovation (advantage embodiment) 2.1.1 STM32 development board to achieve automatic tiling Using stm32 development board each module, realize the debugging and basic control of artificial intelligence tile robot. According to the information obtained by the sensor, the smooth progress of automatic tiling is guaranteed, and the real-time detection system is running smoothly, and the data is uploaded to the cloud through an external WiFi module to realize the control of the web page or small program. When the deviation of the route is found, the PID adjustment will be carried out according to the data obtained by the sensor to make the machine return to the normal track. If the deviation is too large, an alarm will be given. Truly realize the manipulation and use of products in many aspects and from many angles. 2.1.2 UWB ultra-wideband tracking and positioning module We use the UWB module to find and locate the brick laying machine in the room, so as to obtain the data of the brick laying machine, and transmit the data to the user to see the progress of the brick laying more intuitively. Through indoor positioning using wireless communication, base station positioning, inertial navigation positioning and other technologies to integrate a set of indoor position positioning system, so as to realize the position monitoring of personnel, objects and so on in the indoor space. Four positioning base stations with known coordinates are arranged indoors, and the equipment that needs to be positioned carries a positioning tag. The tag transmits pulses according to a certain frequency, and continuously measures with four base stations with known positions, and determines the position of the tag through a certain precise algorithm. In the above foundation, can realize the function of ranging between two points, our indoor positioning relies on a terminal and multiple base station communication at the same time, so as to get the distance between the terminal and each base station, and finally get the position of the terminal in the positioning system, using the spherical intersection method by inputting the distance from the terminal to the base station, calculate the accurate position information. 2.1.3 Mobile Internet Function The brick paving machine uses the ESP8266 module for data communication. According to the characteristics of the WiFi module, the data transmitted by the lower computer (e.g. the running state of the machine and the battery power) are monitored in real time by combining the WeChat applet of "paving the world" and the web page end. The running state and working parameters of the machine can be known in time, and the instruction signal can also be received from the server, thus facilitating the operation of the machine by the staff. If there is an abnormal situation of the machine after the analysis of the neural network big data, the alarm signal will be sent out in time, and the on-site operators will adjust the work at the critical time node. 2.1.4 Fill the lack of brick alarm in the past In order to ensure the maximum liberation of workers, when the bricks are exhausted, the staff will be reminded to supplement the bricks in time to ensure the normal operation of the brick laying system. The pressure sensor is used to obtain the pressure change, and the on-site staff is informed and checked the brick condition of the machine through wireless transmission technology. By using the gravity sensor to detect the total weight of the bricks, the number of remaining bricks is calculated by the formula (total weight of bricks after reduction)/(initial total weight of bricks-total weight of bricks after reduction) = (number of remaining bricks), when the remaining bricks obtained deviate greatly from the integer value (representing the mass damage of the bricks just lifted) or when the weight reaches 0 (representing that the bricks have been paved), the machine will stop working and transmit an alarm signal to notify the brick filling. It does not require personnel to detect the process, greatly improving the work efficiency. 2.1.5 Convenience of operation The setting can be adjusted according to the size of the actual housing area and the size of the bricks. In addition, through algorithm regulation and logical judgment combined with the "paving the world" applet, the robot can make automatic or semi-automatic function selection. When the robot is automatically started, the brick-laying robot will realize automatic operation in the whole process and complete the brick-laying task according to the setting until the task is completed. When the robot is started semi-automatically, the user can control the tiling robot according to the requirements and through the direction keys on the small program, thus specifying the laying position of the next brick, and its tiling function can still be automated. 2.2 innovation points: 2.2.1 Scientific nature of the project: (realization of the versatility of the project system) (1) The application of STM32 development board realizes the basic control of artificial intelligence floor tile machine. (2) the use of suction cups to realize the handling, vibration and pressure of bricks. (3) Application of sensors: By identifying the road surface, controlling the movement track of the robot, detecting the ground condition, realizing the functions of putting cement, laying bricks, pressing bricks, etc., and positioning and placing the bricks. By quickly and automatically calculating the area of the paving site and the size of the required bricks before laying bricks, and then budget the cost; when laying cement and bricks, by adjusting the machine parameters, the laying of each brick can be completed quickly and stably, and the machine can continuously lay bricks without rest time, the machine also adopts infrared positioning, automatic sensing, automatic lifting, automatic control of the amount of ash, can achieve verticality, control flatness error within 1mm, and reach the standard of zero empty drum rate. Speed sensor application: The input data end will detect the speed of the scan and react to the tiling progress. Application of ultrasonic sensor: through detection feedback, the running state of the brick laying machine can be simulated, the safe distance can be set in advance, the foreign matter can be stopped in time, and the working position and work progress can be automatically recorded. Application of gravity sensor: detect the weight of the remaining bricks through the gravity sensor, so as to calculate the number of remaining bricks. When the weight reaches 0, it means that the bricks have been paved and will stop working, and transmit an alarm signal to inform the filling of bricks. Does not require personnel testing, greatly improving work efficiency. Application of laser ranging sensor: the laser ranging sensor is used to detect the distance between the left and right sides of the machine to the wall. when the measured data on both sides are different, the machine has been deflected. at this time, the PID algorithm inside the main chip is used to adjust the speed of the motor, so as to achieve equal ranging values on both sides and keep the machine moving vertically. (4)UWB module: UWB module is used to locate the brick laying machine in the room, so as to obtain the finished part of the brick laying machine, and transmit the data to the user, so as to see the progress of the brick laying more intuitively. (5)PID control: PID intelligent adjustment control is adopted, and PID algorithm is used to control the number of revolutions of the wheel. When the relative position between the machine and the wall surface and the forward distance are transmitted from the laser ranging, the STM main chip can control the distance difference between the target position and the current position as a deviation signal, thus controlling the output PWM pulse to control the stepping motor speed, thus effectively and quickly reaching the specified position, and can effectively avoid the rotation speed of the left and right wheels is not the same as the movement deviation. (6) Development of WeChat applet (web page side, Android side): Users can realize basic monitoring and control of robots through WeChat applet (web page side, Android side) and simulate working scenes. The main functions are as follows: Function 1: scan code under the line.   Function two: user login page. Function three: according to the user's housing area size needs to set the brick size. Function 4: You can choose the automatic or semi-automatic state of the paving robot at will. Function five: the realization of the monitoring of the robot working state, the degree of house brick. Function six: background database for data analysis (7)WiFi module: This product uses ESP8266 module for data communication. According to the characteristics of WiFi module, the data transmitted by the lower computer (e.g. machine running state, battery power) is connected to the server to communicate with the web page and WeChat applet, and instruction signals can also be received from the server to control the machine. Figure 2.1 Schematic diagram of ATK-ESP8266 WIFI module ALIENTEK the connection mode between the warship V3/elite STM32F103 development board and the ATK-ESP8266 module, the AT-ESP8266 module is connected through the serial port 3 of the development board. the ALIENTEK warship V3/elite STM32F103 development board carries an ATK module interface (ATK MODULE), and the ATK-ESP8266 WIFI module can be directly inserted into the interface to realize the connection with the warship V3/elite STM32F103 development board. Connection Schematic Diagram of Main Chip of ATK MODULE Development Board (Take Battleship V3 as an Example) Fig. 2.2 Connection Schematic Diagram of Main Chip of ATK MODULE Development Board (8)OLED display: OLED is very prominent in the application of parameter display to meet the brick laying machine system. In addition, the system also joined the stepper motor, air pump, environmental detection and PID algorithm. Fully integrate the technical functions of various parts, join the modern Internet of Things, electronic information technology and rely on small programs in line with the development of the times, control the operation of machines at the web page end, fully consider the scientific nature of the project to realize the multi-functional operation of the project system, distinguish from the traditional brick-laying mode and upgrade the products in combination with consumer usage habits and other factors. 2.2.2 Advanced points of the project: At present, we are concerned that Bozhilin has released related products, but it is still in the debugging stage, lack of material links, lack of functions, bulky volume and poor practicality has not been widely used, so its transformation prospects are huge. It is understood that there is no relevant intelligent fully automated floor tile laying system research and development products available in the country, this project is an innovation leader, in the project system research and development thinking, technical achievements have unique. Compared with the traditional laying mode, the highlight of the intelligent brick laying machine lies in the use of relevant Internet of Things and electronic information technology to form the core system operation. Through image recognition and data comparison, the working range is known and the best walking and brick laying direction and other working data are determined to formulate the accurate working route of the machine, while facilitating cost estimation. Compared with the traditional manual paving tiles, the system has the advantage of automatic filling of cement and automatic laying of tiles, making full use of cement, reducing waste in the laying process, reducing the phenomenon of broken bricks, and improving the efficiency and quality of floor tiles. It can also improve the utilization rate of labor force, reduce the labor burden of construction and decoration employees, reduce the risk of physical injury and related diseases, and truly realize the full utilization of relevant labor force, and to a certain extent alleviate the problem of labor shortage in China's aging society. Furthermore, the human factor is fully considered in the process of project operation, and products with ease of use, flexibility, openness and visibility are developed from the perspective of the project audience. 2.2.3 Unique features of the project The purpose of this technology is to provide an intelligent brick laying machine and its matching system, using the Internet of Things electronic information technology to solve the above-mentioned problems. Therefore, on the basis of the basic brick laying, the number of remaining bricks monitoring, UWB machine position monitoring, Internet of Things auxiliary control, human-computer interaction and communication and machine and wall distance measurement and other functions are added. The hardware part of the system is completed quickly and accurately under the management of detectors, monitors and computer programs. Through the hardware composed of transmission mechanism, three-dimensional brick transportation mechanism, roller brushing mechanism, brick compaction mechanism, control module, etc., the design of the ESP8266 module to connect the development board for the Internet of Things module is realized, and the hardware entity of the intelligent brick laying machine is completed to carry out mechanical operation and maintenance operation and data transmission together with the client composed of WeChat applet and web page terminal. In the circuit design of the hardware, basic components are purchased from outside to carry out transformation or original design assembly, the model is built, the controller is instructed to write and add primary algorithms to complete the tiling cycle process, the machine is debugged through the feedback system of sensors to prevent the machine from deviating, and the actual parameters of the machine are obtained to enable the server to carry out data processing so that WeChat applets and web pages display the working conditions. 1. With the application of intelligent technology, one machine is equivalent to 2-3 skilled workers, and the construction efficiency can be 2-3 times that of labor. Compared with the traditional laying mode, the highlight of the intelligent tiling system lies in the use of the relevant Internet of Things, electronic information technology to form the core system operation, through image recognition and data comparison, to know the scope of work and determine the best walking and tiling direction and other work data to develop an accurate machine work route. 2, covering multi-functional, perfect system (innovation, technology, practical features outstanding) Compared with the traditional manual paving tiles, the system can realize the autonomous movement of the machine, real-time positioning and leveling, automatic filling of cement, automatic laying of tiles, which can make full use of cement and reduce waste in the laying process. The use of suction cups and sensors to achieve accurate measurement, vibration compaction to reduce the phenomenon of broken brick hollowing, improve the efficiency and quality of floor tiles. At the same time, it can also improve the utilization rate of labor force, reduce the labor burden of construction and decoration employees, reduce the risk of physical injury and related diseases, truly realize the full utilization of relevant labor force, and to a certain extent solve the problem of labor shortage and difficult employment in China's aging society. Furthermore, the human factor is fully considered in the process of project operation, and products with ease of use, flexibility, openness and visibility are developed from the perspective of the project audience. (1) Independent and innovative: The use of the Internet of Things multi-functional intelligent tiling system can be separated from the actual operation of manual tiling. It only needs to set the work on the computer, and the system automatically completes the scheduled work according to the setting. a. Management Innovation-Smart Cloud Platform Small program one-stop intelligent control platform, web data reception center B. Technological innovation-intelligent hardware Autonomous intelligent operation work, real-time data transmission (2) Simple and easy to use: The machine is designed to be lighter and easier to handle when in use, and consumes fewer personnel. The small program function page design is clear, the machine operation is simple and easy to use, and supporting related teaching. (3) efficient and economical: more efficient, continuous uninterrupted service. With the cooperation of various sensors and other components, the working accuracy is better controlled, which can avoid tile breakage to a certain extent and reduce the waste of building materials resources. (4) Visual flexibility: docking small program real-time monitoring, error warning, flexible adjustment parameters to complete the work. (5) All-round: Personality and human choice. The project introduces WeChat applet that can control hardware entities, and the applet covers house drawings and tile area size, the number of floor tiles required, and the size of floor tiles used. It can set the size of tiles according to the user's own needs or preferences, estimate the required cost, provide automatic or semi-automatic state selection of the tile paving machine system, and users can track the machine work process at all times, watch the work real-time map, and understand the house construction progress in all directions, later, users need to scan house drawings and apartment types to provide users with more humane choices. ② Small program fast fission promotion. It is also easier to use the two-dimensional code to enter the small program industry. Under the social network, the smooth experience brought by the functions and rich content of the small program can quickly split the user group and achieve the purpose of promotion. The perfection of system function. Through the preset working machine through the radar automatic positioning system to the corresponding position, through the infrared sensor to identify the tiling position information, lock the tiling track, and the floor tiles are accurately laid in the designated position. Let the sensor collect the remaining floor tiles and battery power of the machine, detect whether the floor tiles are damaged, and give an alarm when the floor tiles are used up or the battery power is low, prompting the user to perform corresponding operations. Chapter III Functional Planning (This chapter mainly describes the various functions planned and designed according to the needs analysis of the work, focusing on the role of these functions) 3.1 overall working process After the user enters the parameters of floor tiles to be laid in the house through logging in to WeChat applet, he scans the two-dimensional code pasted on the tile laying machine, and transmits the data to the machine control chip (STM32zet6) through WIFI(est8266). After the control chip controls the stepping motor to push the sliding rod and the lifting rod to move, the suction cup is pumped through the suction pump when reaching the brick, forming a vacuum between the suction cup and the floor tile, and the floor tile because rubber has a good sealing effect; indoor positioning is carried out by each sensor, and the data is transmitted to the control chip after detecting the distance of foreign matter measurement, so as to realize accurate brick placement and fast tiling through high-frequency vibration of suction cups. The control chip will work the machine.The data of is transmitted to the web page end of the background server and the WeChat applet end through the wireless communication chip. The web page end can present the working data of the house and the machine, while the WeChat applet can display the working progress of the machine. If the machine detects abnormal data, it will ring an alarm and display on the applet what kind of abnormality has occurred, and the machine can be controlled through the WeChat applet function page, maintain its normal operation. In the later design of the machine, a personality selection module is also added. When the robot is automatically started, the brick laying robot will realize automatic operation in the whole process and complete the brick laying task according to the setting until the task is completed. When the robot is started semi-automatically, the user can control the tiling robot according to the demand and through the direction keys on the small program, and its tiling function can still be automated. Later can be added to scan drawings and join the house, the user can according to their own needs or preferences, the size of the brick to make settings. This not only ensures the accurate completion of the work, but also takes into account the different needs of users. Overall project module structure 3.1.1 Hardware Workflow The stepper motor used in this utility model includes a common high-torque stepper motor push rod [2], a screw stepper motor lift rod [1] and a 2m415 stepper motor driver [5], which are used to realize the suction of bricks. Basic tiling functions such as lifting, translating and falling. These three functions are integrated on the machine. The suction and landing functions are realized by the lifting rod [1] and the double air pump [3]. The center of the lifting rod [1] is fixed on the slider of the push rod, and the top motor extends the floating air upward. When the motor rotates, the screw rod is driven to move up and down. The push rod [is fixed in the center of the machine, the connection between the push rod [2] and the lifting rod [1] is fixed with a hinge. When the motor of the push rod [2] rotates, the slider moves to the left and right, and the suction cup [7] and the double air pump [3] are used to carry, vibrate and press the bricks. When the suction cup reaches the brick, it is sucked by the suction pump. When the suction force is greater than the gravity of the brick, the push rod [2] carries the brick. When it reaches the top of the brick paving area, the lifting rod [1] slides down, reaches the ground and flattens it. After flattening, the air pump [3] deflates to complete the whole process. Realize the periodic movement of paving bricks. The use of high conversion rate of lithium battery panels [4] to complete the design of dual battery power supply, through the general mechanical parts, common mechanical transmission and simple mechanical design independent mechanical architecture model. 3.1.2 Web and WeChat applet workflow This intelligent brick laying machine can be controlled online by a WeChat applet called "Paving the World", so that users can be more convenient and efficient when using the intelligent brick laying machine, and can know the brick laying situation of the house in real time and the operation status of the brick laying robot in real time. Users can realize the basic monitoring and control of the robot through WeChat applet or web page, and simulate the working scene. The main functions are as follows: One: scan code under the line Two-dimensional code has become the download and import way of various software applications or applets. The offline scanning code of applets has the advantage of not downloading app. You can enter WeChat applets for operation by opening WeChat and scanning. We paste the two-dimensional code of WeChat applets of "paving the world" on the intelligent brick-laying robot. Users can control the intelligent robot by opening WeChat scanning code. Function two: user login page As shown on the left of the figure, users can log in to the WeChat applet "Paving the World" with their account number to obtain the tiling status of the intelligent tiling robot in time, and know the current working mode and status of the robot, the completion of tiling in the house, the remaining power of the robot and the remaining number of bricks. So that when customers use the program, the exit interface can still retrieve the applet in the search bar and view the work process at any time without scanning the code many times. In this way, the convenience and experience of the user in using the applet are well increased. Function three: according to the user's housing area size requirements set brick size In order to make the intelligent tiling robot more suitable for various house types, we have added the function of "setting room area size" to the small program. users can set the house area size on the small program. after receiving the instruction, the small program will carry out background calculation to calculate the most suitable floor tile size for the house. later, we can add scanning drawings and house types. Of course, the user can also set the size of the brick according to their own needs or preferences. This not only ensures the accurate completion of the work, but also takes into account the different needs of users. Function four: can choose brick robot automation or semi-automated state Entering the WeChat applet of "paving the world", we can see the function option of "automation/semi-automation". Users can select automatic or semi-automatic functions of robots through the applet. When the robot is automatically started, the paving robot will realize automatic operation in the whole process and complete the paving task according to the setting until the task is completed. When the robot is started semi-automatically, the user can control the tiling robot according to the demand and through the direction keys on the small program, and its tiling function can still be automated. This allows the paving robot to be more adaptable to different situations, and can also be changed in time according to user needs. For details, please refer to the following figure. Function five: the realization of the monitoring machine working status The degree of paving bricks for houses enters the WeChat applet of "paving the world" and clicks on the "real-time map of machine work". We can see the real-time situation of the paving brick by the paving robot, the degree of completion of the paving task, the position of the paving brick robot, the mode of the paving brick robot, the working state and the number of remaining bricks. Users can observe the bricklaying robot in real time through WeChat applet, without staying in the workplace for a long time, which greatly reduces the working time of users, can also suspend the work of the robot at any time, and can also supplement bricks in time according to the number of remaining bricks. This function is also a highlight of the small program. For details, please refer to the above figure for real-time machine work. Function six: background database for data analysis In the era of big data, any industry and product cannot do without data analysis. Our WeChat applet also has its own database. In order to understand more users' demand information, through big data analysis, we can give users more and more convenient services and promote the transformation and upgrading of the construction industry, so as to achieve mutually beneficial results. This is also one of the purposes of our development of this applet. In addition, the background will also monitor some basic data. Specific data as shown in figure. Chapter IV Hardware Composition (This section mainly describes the various hardware components involved in the work and their hardware system composition.) 4.1 mechanical structure The invention relates to an automatic brick laying machine and a brick laying method. The whole machine is connected from left to right with a main machine brick laying module and a cement cylinder. Several tires are installed on the lower side of the frame, and a lifting rod is installed on the top of the machine. The brick feeding device connected with the sliding block, the brick feeding device and the brick laying device are connected as a whole; a compaction device is also installed at the suction cup of the frame. The invention sets tires under the frame to form a wheeled walking system, which advances through the tires. Since the new route is next to the laid bricks, the brick surface will not cause large rolling, which is convenient for the automatic brick laying machine to carry out large-scale work. The mud is paved by setting the mud feeding device, the brick is paved by the brick feeding device and the brick laying device, and the paved bricks are compacted by the compaction device on the suction cup, the three continuous work of paving cement, paving bricks and compaction can be realized in turn, realizing automation and improving the efficiency of paving bricks. 4.1.1 Power supply system (refer to the figure above-mechanical structure diagram for the digital part) The use of high conversion lithium battery panels [4] to complete the design of dual battery power supply, through the general mechanical parts, common mechanical transmission or simple mechanical design independent mechanical architecture model. The ESP8266WIFI module 16 is designed to connect to the development board. The controller is programmed with instructions to join the algorithm, so that there can be periodic action, through the sensor feedback system and PID algorithm to make the system more intelligent, automated. The utility model uses the combination of external power supply and internal power supply 4 to supply power, under normal circumstances, the use of household external AC power supply, if there is a power outage and other accidents, will switch to the internal power supply mode or replacement. 4.1.2 Main control chip and development board The main control chip in the utility model uses STM32F103ZET6. The STM32F103ZET6 has up to 144 pins, it has a simple and reliable development method, which is conducive to shrinking the development cycle, simplifying system maintenance, and it has enough resources to serve as the control center of the intelligent bricklaying machine. And combined with the LED display screen [8], software remote control to control the function of intelligent laying brick machine. Take the development board development due to the high integration environment to make the control of the chip more convenient. 4.1.3 Transmission brick transport mechanism The transmission brick transport mechanism used in the utility model includes an ordinary high-torque stepping motor push rod.[2], screw stepper motor lifting rod [1] and 2m415 stepper motor driver [5], used to achieve the basic brick laying functions such as brick suction, translation and landing. These three functions are integrated on the machine. The suction and landing functions are realized by the lifting rod [1] and the double air pump [3]. The center of the lifting rod [1] is fixed on the slider of the push rod, and the top motor extends the floating air upward. When the motor rotates, the screw rod is driven to move up and down. The push rod [2] is fixed at the center of the machine, the connection between the push rod [2] and the lifting rod [1] is fixed with a hinge. When the motor of the push rod [2] rotates, the slider will move to the left and right, and the common stepping motor is used to realize the periodic movement of the tile. When the driver [5] acts, the control signal of the main control chip [10] is converted into a current signal that can drive the motor [5], and the rotation angle and speed of the motor are jointly controlled by the main control chip [10] and the driver [5]. 4.1.4 Suction cup and air pump The suction cup [7] and double air pump [3] used in this example can realize the handling, vibration and pressure of bricks. When the suction cup reaches the brick, it is sucked by the suction pump. When the suction force is greater than the gravity of the brick, the push rod [2] carries the brick. When it reaches the top of the brick paving area, the lifting rod [1] slides down, reaches the ground and flattens it. After flattening, the air pump [3] deflates to complete the whole process. 4.1.5 Various sensor fusion The rotation speed sensor [11], gravity sensor [12], ultrasonic sensor [15] used in this utility model, and multi-sensor information fusion technology are added to make the monitored data more accurate and reduce the monitoring errors of accidental events. Among them, the speed sensor [11] will input the speed of detection and scanning to the data terminal to reflect the progress of tiling. If any abnormality is found, the work efficiency is improved through feedback and the working status can be viewed and fed back from time to time. The ultrasonic sensor [15] can detect foreign matters within a safe distance in advance and stop working in a timely manner, and automatically record the working position and work progress this time; the weight of the remaining bricks is detected by the gravity sensor [12], so as to calculate the number of the remaining bricks. When the weight reaches [0], it will stop working and transmit an alarm signal to inform the brick filling. Does not require personnel testing, greatly improving work efficiency. The laser ranging sensor [9] is used to detect the distance between the left and right sides of the machine to the wall. When the measured data on both sides are different, it indicates that the machine is deflected. At this time, the PID algorithm inside the main chip [10] is used to adjust the motor speed, so that the ranging values on both sides are equal and the machine keeps moving vertically. 4.1.6led display The LED display screen [8] is installed at the edge of the machine. According to the OLED/CARA interface pin definition and SPI protocol, and then a word bank is added, the parameter information of the brick laying machine can be displayed on the LED display screen [8] through codes, and various operating data of the machine can be displayed in real time, thus making it more convenient for decoration workers to analyze the working conditions and camera videos of the machine and display real-time prompt schemes for workers. 4.1.7uwb module The utility model adopts UWB module [13] to form a set of indoor position positioning system by integrating various technologies such as wireless communication, base station positioning and inertial navigation positioning in indoor positioning, so as to realize the position monitoring of personnel and objects in indoor space. The positioning base station with coordinates arranged at the foot of [4] of the brick paving site, the positioning tag installed on the machine transmits pulses according to a certain frequency, continuously measures the distance with [4] base stations with known positions, and determines the position of the brick paving machine through a certain accurate algorithm, so as to find and locate the brick paving machine in the room, so as to obtain the finished part of the brick paving machine and transmit the data to the user, more intuitive to see the progress of the brick. 4.1.8 ESP8266(WiFi) module Through the wireless networking ESP8266 chip [16], we have realized the networking of intelligent bricklaying machines and developed WeChat applets and web pages on the mobile phone side. Data such as machine working environment data and equipment parameters detected by the brick laying machine will be uploaded to the cloud in real time. Each intelligent tiling system is equipped with a unique id and two-dimensional code to identify the corresponding tiling machine. The user's real-time data and diachronic data can only be viewed after the corresponding tiling machine id is entered on the mobile phone app or web page, and the tiling machine can only be controlled by scanning the corresponding one. In the back-end server, we also analyze the user's data, display the abnormal operation of the machine on the app and web page, and provide solutions or repair reports on the brick laying machine, which can provide reference for the work supervisor. Moreover, in the interconnected operation of the machine body and the client of the utility model, in addition to the selection of the fully automatic operation mode of the machine, the semi-automatic man-controlled machine can also be selected. When the robot is automatically started, the paving machine will realize automatic operation in the whole process, and complete the paving task according to the setting until the task is completed. When the machine is started semi-automatically, the user can control the tiling machine according to the demand and through the direction keys on the small program, and its tiling function can still be automated. This allows the paving robot to be more adaptable to different situations, and can also be changed in time according to user needs.