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Abstract
In recent years, accelerative aging society is meeting the short supply of young and middle‐aged labor. Particularly, most young people are reluctant to work in the construction industry, which has caused the labor cost of floor tiling to rise year by year. In addition, floor tiling requires workers to continuously bend over or lean over to work, which greatly jeopardizes the physical health of them. Therefore, advanced technology applied in floor tiling is highly demanded to replace the traditional manual method. On the context, the automatic method of floor tiling may promote the transformation and upgrading of the industry. Although a few robots for floor tiling have been developed, the automation of existing systems is still at a low level. This paper proposes a robot floor‐tiling control strategy based on visual measurement feedback and finite‐state machine, in which the calculation of tile position information in limited field of vision is obtained by an improved Canny edge detection and a Hough linear transformation. Moreover, an algorithm for complementing tile position information based on visual measurement is proposed, and the quality of tile laying is evaluated online. To evaluate the effect of the proposed control strategy, the experimental verifications are given. The experimental results indicate that the proposed method can complete the automatic floor tiling with high accuracy.
Highlights
Innovation of is Article. is paper aims at realizing a stable control method of floor tiling and proposes a floor-tiling control strategy based on the vision measurement in the limited FOV and finite-state machine control strategy. e main contributions of this paper are summarized as follows: (1) It proposes a fast and robust ceramic tile measurement method based on the vision with a limited FOV
When the number of parameter straight lines that intersect at the same point reaches the preset value, we think that we have found enough points to form a straight line. is is the principle of Hough transform (HT)
Research is paper presents a robotic floor-tiling control method based on visual measurement feedback and finite-state machine. e self-developed floor tile robot II (FTR-II) floor-tiling robot was used to conduct experiments at a laboratory site. rough the analysis of the experimental results, it can be concluded that
Summary
In 2019, Li et al [18] proposed a vision-based adaptive control method for tile paving, and Liu et al [19, 20] developed a mobile robot for floor tiling that used laser sensors to measure size and position of tiles. Is paper aims at realizing a stable control method of floor tiling and proposes a floor-tiling control strategy based on the vision measurement in the limited FOV and finite-state machine control strategy. (1) It proposes a fast and robust ceramic tile measurement method based on the vision with a limited FOV.
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