A laser triangulation based on 3D scanner used for an autonomous interior finishing robot

Abstract

With the increase in the cost of renovation, as well as the rapid development of robotic automation technology, the use of robots for automated interior finishing work will be an inevitable trend. If the interior finishing work is conducted by autonomous robots, it will involve a localization problem. The robot should be able to localize itself with respect to the target room and automatically recognize the geometry information about the room needed to be processed. Therefore, the three-dimensional information about the room is very important for autonomous interior finishing robots. In this research, a 3D laser scanner is designed for this purpose. The scanner is designed based on the laser triangulation principle. In construction site, it will be used like an electronic Total station device which is configured in a stationary position inside of the room. With communicating with the sensor, a mobile interior finishing robot can obtain the necessary 3D information about the room. In addition with the proposed algorithm, the geometry information of the target room such as its layout, the contour of the wall can be derived from the 3D information automatically. These information is necessary for the subsequent work planning of interior process.