A Mobile Robotic Measurement System for Large-scale Complex Components Based on Optical Scanning and Visual Tracking

Wang, Jinshan; Tao, Bo; Gong, Zeyu; Yu, Supu; Yin, Zhouping

doi:10.1016/j.rcim.2020.102010

Cited by 68 publications

(24 citation statements)

References 26 publications

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“…Wang et al used a mobile robot combined with a 3D camera to increase the scanning range of the robot and realized the scanning of the wind turbine blade model [13]. Ge et al used robots and line laser sensors to realize the welding seam of the steel pipe workpiece via online measurement and removal [14].…”

Section: Related Workmentioning

confidence: 99%

A Robotic Milling System Based on 3D Point Cloud

Gao

Bai

et al. 2021

Machines

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Industrial robots have advantages in the processing of large-scale components in the aerospace industry. Compared to CNC machine tools, robot arms are cheaper and easier to deploy. However, due to the poor consistency of incoming materials, large-scale and lightweight components make it difficult to automate robotic machining. In addition, the stiffness of the tandem structure is quite low. Therefore, the stability of the milling process is always a concern. In this paper, the robotic milling research is carried out for the welding pre-processing technology of large-scale components. In order to realize the automatic production of low-conformity parts, the on-site measurement–planning–processing method is adopted with the laser profiler. On the one hand, the laser profiler hand–eye calibration method is optimized to improve the measurement accuracy. On the other hand, the stiffness of the robot’s processing posture is optimized, combined with the angle of the fixture turntable. Finally, the experiment shows the feasibility of the on-site measurement–planning–processing method and verifies the correctness of the stiffness model.

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Section: Related Workmentioning

confidence: 99%

A Robotic Milling System Based on 3D Point Cloud

Gao

Bai

et al. 2021

Machines

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“…Le et al proposed a 2D localization algorithm for a robot based on deep learning, which enabled out-of-order grasping of a specific object (Le and Lin, 2019). Wang combined stereo vision with the mobile robot to realize accurate measurement of large volume objects (Wang et al , 2021).…”

Section: Introductionmentioning

confidence: 99%

A novel robotic 6DOF pose measurement strategy for large-size casts based on stereo vision

Wan

Liu

et al. 2022

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Purpose This paper aims to study six degrees-of-freedom (6DOF) pose measurement of reflective metal casts by machine vision, analyze the problems existing in the positioning of metal casts by stereo vision sensor in unstructured environment and put forward the visual positioning and grasping strategy that can be used in industrial robot cell. Design/methodology/approach A multikeypoints detection network Binocular Attention Hourglass Net is constructed, which can complete the two-dimensional positioning of the left and right cameras of the stereo vision system at the same time and provide reconstruction information for three-dimensional pose measurement. Generate adversarial networks is introduced to enhance the image of local feature area of object surface, and the three-dimensional pose measurement of object is completed by combining RANSAC ellipse fitting algorithm and triangulation method. Findings The proposed method realizes the high-precision 6DOF positioning and grasping of reflective metal casts by industrial robots; it has been applied in many fields and solves the problem of difficult visual measurement of reflective casts. The experimental results show that the system exhibits superior recognition performance, which meets the requirements of the grasping task. Research limitations/implications Because of the chosen research approach, the research results may lack generalizability. The proposed method is more suitable for objects with plane positioning features. Originality/value This paper realizes the 6DOF pose measurement of reflective casts by vision system, and solves the problem of positioning and grasping such objects by industrial robot.

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“…In this regard, the team led by Tao Bo came up with a mobile robotic measurement system for large-scale complex components based on optical scanning and visual tracking, achieving the positioning of the robot by measuring scanner and coded marks on the ground. In the actual measurement of a 2.88 m wind turbine blade model, the translation error is less than 0.2 mm [29,30]. Although the measurement accuracy is very high, the ground coding and marking process also increases the complexity of the measurement task.…”

Section: Introductionmentioning

confidence: 99%

Collaborative Measurement System of Dual Mobile Robots That Integrates Visual Tracking and 3D Measurement

Gan

Ren

et al. 2022

Machines

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The manufacturing accuracy of large-scale complex components determines the performance and quality of aircraft, ships, high-speed rail, and other equipment. High-precision 3D measurement plays a crucial role in ensuring manufacturing accuracy. At present, the existing measurement methods rely heavily on manual labor, which cannot satisfy the requirements of industry quality and efficiency. This paper introduces an integrated mobile robotic measurement system for the accurate and automatic 3D measurement of large-scale components with complex curved surfaces. The system consists of the mobile optical scanning measurement device, visual tracking device, and software platform, which can realize comprehensive and accurate data acquisition and stitching of large-scale complex components. The combination of visual tracking and 3D measurement based on the coordinated motion of the dual robot achieved the automatic data acquisition of large-scale complex components without sticking coded targets. Additionally, this paper also introduces a DeepMerge algorithm that combines local and global features of the point cloud, which effectively corrects the initial stitching error of the visual tracking system. The validity of the measurement system and method was shown by the measurement and stitching experiments on the surface of the vehicle nose, ensuring the accurate measurement of the robot’s wide range of motion.

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A Mobile Robotic Measurement System for Large-scale Complex Components Based on Optical Scanning and Visual Tracking

Cited by 68 publications

References 26 publications

A Robotic Milling System Based on 3D Point Cloud

A Robotic Milling System Based on 3D Point Cloud

A novel robotic 6DOF pose measurement strategy for large-size casts based on stereo vision

Collaborative Measurement System of Dual Mobile Robots That Integrates Visual Tracking and 3D Measurement

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