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Robotized interior finishing operations with visual feedback
Industrial Robot ( IF 1.8 ) Pub Date : 2021-09-13 , DOI: 10.1108/ir-02-2021-0034
Xin Jiang 1 , Xiang Li 2
Affiliation  

Purpose

This paper aims to address the problem of integrating sensor feedback in robotized interior finishing operations. Its motivation is to finally realize automatic operations necessitating no human intervention. A vision-based approach is proposed for monitoring the execution status and changing the action accordingly.

Design/methodology/approach

First, a robotic system is proposed which can realize two typical interior finishing operations, namely, putty applying and wall sanding. Second, a new method based on a deep neural network is proposed to process the visual information capturing the execution status of the interior finishing operations. It helps to determine essential parameters on where should be processed and how to execute the corresponding operation. With the proposed method, vision information is embedded into the execution of interior finishing in a closed loop style.

Findings

The experiments demonstrate the feasibility of the proposal and reveal problems for further improvement of the autonomous interior finishing robot.

Originality/value

This provides an original insight into robotized interior finishing by addressing an attempt on integrating visual feedback into the manual process.



中文翻译:

具有视觉反馈的机器人内部装修操作

目的

本文旨在解决在机器人内部装修操作中集成传感器反馈的问题。其动机是最终实现无需人工干预的自动化操作。提出了一种基于视觉的方法来监控执行状态并相应地改变动作。

设计/方法/方法

首先,提出了一种机器人系统,可以实现两种典型的室内装修操作,即腻子涂抹和墙面打磨。其次,提出了一种基于深度神经网络的新方法来处理捕捉室内装修操作执行状态的视觉信息。它有助于确定应在何处处理以及如何执行相应操作的基本参数。使用所提出的方法,视觉信息以闭环方式嵌入到室内装修的执行中。

发现

实验证明了该建议的可行性,并揭示了进一步改进自主内饰机器人的问题。

原创性/价值

通过尝试将视觉反馈集成到手动过程中,这提供了对机器人内部装饰的原始见解。

更新日期:2021-09-13
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