High-precision end-tip positioning system for automatic interior finishing process based on laser level

Wall processing is a fundamental process of interior finishing. Its quality is determined by both the local evenness of the processed wall and the surface relief as a whole. It is expected that the processed wall surface as a whole is confined to a perfect plane with small variations. In actual construction sites, the consistency in processing quality is not achieved automatically in large-scale construction sites. The precision requirement of interior finishing operation is several mm level, and there is currently no means to ensure such high precise positioning of robot tip in large-scale environments. So, it is necessary to design a system that can provide high-precision and convenient positioning with respect to the wall during a construction process in large-scale environments. A fast and high-precision positioning scheme based on a laser reference plane is proposed in this paper. It uses a laser plane as a reference and cooperates with a measuring device installed at the end of the manipulator to achieve a high-precision positioning. The effectiveness of the developed sensor system and its application in putty applying are validated respectively in experiments.