瓷砖铺贴机器人的瓷砖三维空间定位方法研究

Design of tile three-dimensional space positioning system for floor-tiling robot

针对机器人瓷砖铺贴作业过程中因瓷砖空间定位困难和定位精度低而影响铺贴质量的问题,提出了一种采用视觉和激光组合的瓷砖三维空间定位方法。介绍了定位系统的硬件组成和定位方法工作流程,定义了系统中各平面坐标系并进行空间坐标变换推导,定位方法将三维空间定位拆分为两个阶段。首先,系统驱动机械臂末端旋转使激光测距传感器获取定位面多个位置坐标,进一步求解平面方程并调整待铺贴瓷砖与已铺贴瓷砖平行;然后,采用直线检测算法(LSD)对铺贴过程的瓷砖图像进行瓷砖边检测,解析瓷砖边位置信息,计算待铺贴瓷砖从当前位置至期望位置的变换矩阵。实验结果表明,系统稳定性较好,所提定位方法具有较高的测量精度和效率。

Aiming at the problem that the quality of floor-tiling is affected by the difficulty of tile spatial positioning and low positioning accuracy during the operation of the robotic floor-tiling, a three-dimensional spatial positioning method of ceramics using a combination of vision and laser is proposed in this paper. The hardware composition of the positioning system and the work flow of the positioning method are introduced. The coordinate systems of each plane in the system are defined and the spatial coordinate transformation is deduced. The positioning method divides the three-dimensional space positioning into two stages. First, the system drives the end of the manipulator to rotate so that the laser ranging sensor obtains multiple position coordinates of the positioning surface, further solves the plane equation and adjusts the ceramic to be laid parallel to the ceramic already laid. Then, the line detection algorithm(LSD) is used to detect the ceramic edge of the image in the laying process, analyze the position information of the ceramic edge, and calculate the transformation matrix of the ceramic to be laid from the current position to the desired position. The experimental results show that the system has good stability, and the proposed positioning method has high measurement accuracy and efficiency.