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Hybrid calibration and detection approach for mobile robotic manufacturing systems
Industrial Robot ( IF 1.8 ) Pub Date : 2020-05-11 , DOI: 10.1108/ir-09-2019-0194
Jing Bai , Yuchang Zhang , Xiansheng Qin , Zhanxi Wang , Chen Zheng

Purpose

The purpose of this paper is to present a visual detection approach to predict the poses of target objects placed in arbitrary positions before completing the corresponding tasks in mobile robotic manufacturing systems.

Design/methodology/approach

A hybrid visual detection approach that combines monocular vision and laser ranging is proposed based on an eye-in-hand vision system. The laser displacement sensor is adopted to achieve normal alignment for an arbitrary plane and obtain depth information. The monocular camera measures the two-dimensional image information. In addition, a robot hand-eye relationship calibration method is presented in this paper.

Findings

First, a hybrid visual detection approach for mobile robotic manufacturing systems is proposed. This detection approach is based on an eye-in-hand vision system consisting of one monocular camera and three laser displacement sensors and it can achieve normal alignment for an arbitrary plane and spatial positioning of the workpiece. Second, based on this vision system, a robot hand-eye relationship calibration method is presented and it was successfully applied to a mobile robotic manufacturing system designed by the authors’ team. As a result, the relationship between the workpiece coordinate system and the end-effector coordinate system could be established accurately.

Practical implications

This approach can quickly and accurately establish the relationship between the coordinate system of the workpiece and that of the end-effector. The normal alignment accuracy of the hand-eye vision system was less than 0.5° and the spatial positioning accuracy could reach 0.5 mm.

Originality/value

This approach can achieve normal alignment for arbitrary planes and spatial positioning of the workpiece and it can quickly establish the pose relationship between the workpiece and end-effector coordinate systems. Moreover, the proposed approach can significantly improve the work efficiency, flexibility and intelligence of mobile robotic manufacturing systems.



中文翻译:

移动机器人制造系统的混合校准和检测方法

目的

本文的目的是提出一种视觉检测方法,以预测在移动机器人制造系统中完成相应任务之前放置在任意位置的目标对象的姿态。

设计/方法/方法

提出了一种结合单眼视觉和激光测距的混合视觉检测方法。采用激光位移传感器实现任意平面的法线对准并获得深度信息。单眼相机测量二维图像信息。此外,本文提出了一种机器人手眼关系校准方法。

发现

首先,提出了一种用于移动机器人制造系统的混合视觉检测方法。这种检测方法基于由一个单眼相机和三个激光位移传感器组成的手眼视觉系统,并且可以实现工件任意平面和空间定位的正常对准。其次,基于该视觉系统,提出了一种机器人手眼关系校准方法,并将其成功地应用于作者团队设计的移动机器人制造系统。结果,可以精确地建立工件坐标系和末端执行器坐标系之间的关系。

实际影响

这种方法可以快速而准确地建立工件坐标系与末端执行器坐标系之间的关系。手眼视觉系统的正常对准精度小于0.5°,空间定位精度可以达到0.5 mm。

创意/价值

这种方法可以实现任意平面的垂直对准和工件的空间定位,并且可以快速建立工件和末端执行器坐标系之间的姿势关系。此外,所提出的方法可以显着提高移动机器人制造系统的工作效率,灵活性和智能性。

更新日期:2020-07-20
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