Robot Floor-Tiling Control Method Based on Finite-State Machine and Visual Measurement in Limited FOV

Table 1

System components of FTR-II.

Function module	Devices/tool	Description
Main controller	Embedded industrial computer PCX-9168	(i) Control hardware platform
	Unbuntu20.04 + ROS	(ii) Control software platform
Data processing and evaluation	Opencv3.4	(i) Convert image to grayscale one
		(ii) Image edge detection
		(iii) Image feature extraction
	Visual studio code 1.52.1for unbuntu20.04	(i) Floor position calculation
		(ii) Floor-tiling quality evaluation
Manipulator	UR10	(i) Floor-tiling position movement
Ceramic tile grab	ZK2A15K5HL-08	(i) Vacuum generator
	ZPT32CNJ10-B5-A10	(ii) Vacuum suction cups
Mobile platform	Mecanum wheel omnidirectional mobile platform	(i) Floor-tiling process moving
Vertical measurement module	Laser sensor keyence IL-150	(i) Vertical measurement feedback
Image capture	SONY IMX214 13M pixel CMOS sensor	(i) Digitize image