Research Article
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 |
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