UAV remote laser scanner improvement by continuous scanning using DC motors

Линднер, Ларс; Sergiyenko, Oleg; Rivas-López, Moisés; Salas, Benjamín Valdéz; Rodríguez-Quiñonez, Julio C.; Hernández-Balbuena, Daniel; Flores-Fuentes, Wendy; Tyrsa, Vera; Barrera, Misael Medina; Muerrieta-Rico, Fabian N.; Mercorelli, Paolo; Gurko, Alexander

doi:10.1109/iecon.2016.7793316

Cited by 10 publications

(5 citation statements)

References 12 publications

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“…In summary, it can be said, that after intensive literature research, not a single project was found, which pursues our novel approach of combining a laser triangulation system with DC motors, without using cameras. The unique design principle of our Technical Vision System is described in numerous previous research (Básaca-Preciado et al, 2014;Lindner, Sergiyenko, Rivas-López, Valdez-Salas, et al, 2016;Reyes-Garcia et al, 2018Reyes-García et al, 2019;Rodríguez-Quiñonez, Sergiyenko, Hernandez-Balbuena, et al, 2014; and partly presented in this paper. This can be summarized by the following properties.…”

Section: Related Workmentioning

confidence: 99%

Angular Error Reduction of a Machine Vision System using a Trapezoidal Trajectory Velocity Profile

Линднер¹,

Sergiyenko²,

Rodríguez-Quiñonez³

et al. 2022

JART

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Nowadays laser scanners play an important role in technology and research, when it comes to measure 3D coordinates physically and in real time of any object under observation. Laser scanners have to measure the 3D coordinates of these objects in shortest time and with the smallest measuring error. A novel laser scanner called Technical Vision System (TVS), which uses Dynamic Triangulation and DC motors, was developed and proven to represent a fast and reliable scanning system. Previous research used the step response of the TVS mechanical actuators (DC motors), which can overshoot if certain controller parameters of the closed-loop control are selected. If the overshoot is undesirable, a trade-off must be made between speed and overshoot of the step response. Thereby, present paper describes a new approach to control the actual angular position of the TVS DC motors using a trapezoidal profile for the DC Motor velocity. The DC motors step response is replaced by a trajectory response, which allows the reduction of the relative angular error of the DC motors shaft to a value less than or equal to 0.1 percent. Also, the design of the control system, to implement the trapezoidal trajectory profile for the DC motor velocity in practice, is described in detail.

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Section: Related Workmentioning

confidence: 99%

Angular Error Reduction of a Machine Vision System using a Trapezoidal Trajectory Velocity Profile

Линднер¹,

Sergiyenko²,

Rodríguez-Quiñonez³

et al. 2022

JART

View full text Add to dashboard Cite

show abstract

“…However, the experiments [14], [15], [16] show that the new LP drive still has some drawbacks. These drawbacks are results of using inaccurate values of the parameters of the DC motor and the LP, simplification of the DC motor model, e.g.…”

Section: Synergetic Ecomobile Systemsmentioning

confidence: 99%

“…For these tasks solution, robots are equipped with Machine Vision Systems (MVS) based on different sensors (camera, laser, radar, sonar, lidar, etc.) [1] - [16]. Laser scanners are attractive sensors in outdoor mobile robot localization and navigation [1], [3], [8]- [16] because of their ability to provide instantaneous information about the range and direction that can be used for feature extraction and obstacle detection.…”

Section: Introductionmentioning

confidence: 99%

“…[1] - [16]. Laser scanners are attractive sensors in outdoor mobile robot localization and navigation [1], [3], [8]- [16] because of their ability to provide instantaneous information about the range and direction that can be used for feature extraction and obstacle detection. Fusing data from laser scanners with information from other sources benefits the accuracy of mapping and enables mobile robots to perform a variety of tasks more confidently [1], [2], [12].…”

Section: Introductionmentioning

confidence: 99%

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Robust laser positioning in a mobile robot machine vision system

Gurko

Sergiyenko

2021

VEIT

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Problem. Laser scanning devices are widely used in Machine Vision Systems (MVS) of an autonomous mobile robot for solving SLAM problems. One of the concerns with MVS operation is the ability to detect relatively small obstacles. This requires scanning a limited sector within the field of view or even focusing on a specific point of space. The accuracy of the laser beam positioning is hampered by various kinds of uncertainties both due to the model simplifying and using inaccurate values of its parameters, as well as lacking information about perturbations. Goal. This paper presents the improvement of the MVS, described in previous works of the authors, by robust control of the DC motor, which represents the Positioning Laser drive. Methodology. For this purpose, a DC motor model is built, taking into account the parametric uncertainty. A robust digital PD controller for laser positioning is designed, and a comparative evaluation of the robust properties of the obtained control system with a classical one is carried out. The PWM signal formation by the microcontroller and processes in the H-bridge are also taken into account. Results. The obtained digital controller meets the transient process and accuracy requirements and combines the simplicity of a classic controller with a weak sensitivity to the parametric uncertainties of the drive model. Originality. The originality of the paper is in its focus on the MVS of the autonomous mobile robot developed by the authors. Practical value. The implementation of the MVS with the proposed controller will increase the reliability of obstacles detection within a robot field of view and the accuracy of environment mapping.

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“…However, these techniques sometimes fail to satisfy performance requirements including stability, accuracy and durability under specific conditions [17]. Novel non-destructive evaluation techniques such as vision inspection [18][19][20], Doppler LIDAR technology [4], and laser dynamic triangulation [21][22][23][24][25] have emerged as well. Quite a few machine-vision based automatic systems [26][27][28][29][30][31][32] have been proposed to cope with various tasks including detecting rail irregularities, rail surface, rail anchors, turnout components, crib ballast, and defects in fasteners.…”

mentioning

confidence: 99%

A Machine Vision System Based on Driving Recorder for Automatic Inspection of Rail Curvature

Wang

Liao

2021

IEEE Sensors J.

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Because of long distance of railway lines, it is difficult to find an appropriate method to inspect the rail track condition efficiently and accurately. In this paper, a machine vision system based on driving recorder and image signal processing is proposed to evaluate the rail curvature automatically. The proposed machine vision system consists of four modules including the video acquisition module, the image extraction module, the image processing module, and the track condition assessment module. Three classic edge detection methods are adopted and compared for rail edge detection. In line with the videos of driving recorder, coordinate systems for train and rail are defined in the Lagrangian space, and the track curvature is estimated using the proposed chord offset method and double measurement method. For evaluating the track condition, an index describing the concordance between the train and track is defined. In the case study, a set of videos from the driving recorders of trains during their in-service operations are analyzed by the proposed technique, and the obtained results are verified by comparison with those obtained by a track geometry inspection vehicle. It is shown that the proposed technique can evaluate the track curvature accurately. Moreover, the influence of the position of deployed driving recorder, the focal length and anti-shake of camera on the accuracy of evaluation results is discussed. It is testified that the proposed technique provides a simple and reliable way to inspect the track curvature.

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UAV remote laser scanner improvement by continuous scanning using DC motors

Cited by 10 publications

References 12 publications

Angular Error Reduction of a Machine Vision System using a Trapezoidal Trajectory Velocity Profile

Angular Error Reduction of a Machine Vision System using a Trapezoidal Trajectory Velocity Profile

Robust laser positioning in a mobile robot machine vision system

A Machine Vision System Based on Driving Recorder for Automatic Inspection of Rail Curvature

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