| In recent years,construction industrialization and robotization have become a major trend in the development of construction industry.China is a big country of ceramic tile,ceramic tile usage amount ranks the first in the world,ceramic tile shop sticks need automation,development of robot of ceramic tile shop sticks a problem that needs to be solved urgently at present.Tile paving robot imitates artificial tile paving process to realize automatic tile paving.The robot consists of a detection unit,a manipulator motion unit,a control unit and a ceramic tile storage unit.The robot obtains the position information of the ceramic tile through the detection unit,and then controls the motion of the manipulator through the control unit,which includes picking up the ceramic tile,applying glue(or mortar),placing and leveling the ceramic tile.Obviously,the position detection is an extremely important part of the robot,and its detection precision and speed will affect the tile paving robot's paving precision and speed.In this paper,the detection unit of CR1 tile paving construction robot developed in the laboratory is studied,which mainly includes: general method of tile space positioning,noncontact laser positioning method,measurement precision and error analysis of non-contact laser positioning method.Orientation of object space positioning methods including visual and infrared and laser positioning and GPS positioning,etc.,aiming at building scene,detection methods need to meet the complex construction environment,the characteristics of light intensity difference,work environment diversity,so the laser positioning system for ceramic tile spatial location detection,it has the non-contact,is not affected by light conditions,and the advantages of rapid identification,can satisfy the measurement of complex construction environment of ceramic tile position requirements.Ceramic tile has two laser ranging sensor positioning system installation,different stages of ceramic tile edge can be detected and high position,through the localization algorithm of the two-dimensional plane,extended to the threedimensional localization algorithm of ceramic tile,location information obtained by the 2 d plane fusion,the space form of ceramic tile and then get the space position of ceramic tile.In this paper,the location detection method and location algorithm are studied.This paper further studies the detection accuracy and its influencing factors based on laser ranging sensor.The moving speed of laser ranging sensor has an important effect on the detection accuracy.Through the experimental research and data analysis at different speeds,the parameters of the laser ranging sensor are set with the highest speed and the highest detection accuracy,so as to ensure the efficiency of the robot.In this paper,the detection data,detection precision and error are analyzed.Finally,the measurement method and data analysis algorithm proposed above are programmed and run in the CR1 tile paving robot developed in our laboratory.It is proved that the method presented in this paper is correct,the experimental results are within the precision range required by the tiling robot,and the algorithm involved can effectively suppress the repeatability error of laser ranging sensor. |
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