A new novel recognition and positioning system of black light-absorbing volute for automation depalletizing development

蜗壳 自动化 计算机科学 开发(拓扑) 人工智能 计算机视觉 工程制图 人机交互 工程类 机械工程 数学 数学分析 入口
作者
Ping Yang,Haiyang Lin,Runxi Wu,Shuonan Xiao
出处
期刊:Measurement Science and Technology [IOP Publishing]
卷期号:35 (9): 095403-095403
标识
DOI:10.1088/1361-6501/ad5035
摘要

Abstract In the application of vision measurement, the black light-absorbing object is difficult to reflect the structured light from infrared emitter of the RGB-D camera. Therefore, an image recognition algorithm based on reference environment information is proposed to acquire the spatial positioning information of black volutes in the depalletizing system. The hardware system of the depalletizing system is mainly constructed of an upper computer, a six-axis industrial robot, an RGB-D camera and an end adsorption device. Firstly, the horizontal position information of each volute placed on the cardboard is obtained by the depth differences between the cardboard and the volute. Then, the depth information of the volute is obtained by the upper cardboard depth through collecting the position of the end vacuum suction cup triggered by feedback signal from vacuum generator. Secondly, a regional planar hand-eye calibration method is developed to improve the calibration accuracy in two-dimensional coordinates. The regional calibration method divides the robot working area into four regions: upper left, lower left, upper right, and lower right. The transformation matrix of each region is calculated separately. Finally, the depalletizing experiment is conducted on the three types of volutes. It is concluded that the average positioning error of the grasping center point of each volute obtained by our method is 3.795 mm, and its standard deviation is 1.769 mm. The average value of regional planar hand-eye calibration error is 4.044 mm, and its standard deviation is 1.501 mm. Under a stack of materials with dimensions of 1350 mm × 1350 mm × 1500 mm, the maximum error is controlled within 15 mm. Additionally, when combined with the end feedback compensation mechanism, the success rate for grasping all three volutes reaches 100%.
最长约 10秒,即可获得该文献文件

科研通智能强力驱动
Strongly Powered by AbleSci AI

祝大家在新的一年里科研腾飞
更新
大幅提高文件上传限制,最高150M (2024-4-1)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
上官若男应助回颜轻生采纳,获得10
2秒前
苹果完成签到,获得积分10
3秒前
杳鸢应助77采纳,获得10
4秒前
葱姜蒜辣椒香菜我全要完成签到,获得积分10
5秒前
6秒前
6秒前
6秒前
7秒前
文艺初雪应助典雅的俊驰采纳,获得10
7秒前
8秒前
青青草完成签到,获得积分10
9秒前
Akina完成签到,获得积分10
10秒前
天天快乐应助wait采纳,获得10
10秒前
姜姜姜完成签到,获得积分10
10秒前
张大宝发布了新的文献求助10
10秒前
微眸发布了新的文献求助10
11秒前
加菲丰丰应助科研通管家采纳,获得20
12秒前
12秒前
健忘煎蛋发布了新的文献求助10
12秒前
12秒前
李健应助科研通管家采纳,获得10
12秒前
12秒前
星辰大海应助科研通管家采纳,获得10
12秒前
科研通AI2S应助科研通管家采纳,获得10
12秒前
渔舟唱晚应助科研通管家采纳,获得10
12秒前
wayne完成签到,获得积分10
13秒前
北北北发布了新的文献求助10
13秒前
15秒前
柳叶刀完成签到 ,获得积分10
16秒前
16秒前
鲜艳的新梅完成签到,获得积分10
17秒前
个性破茧发布了新的文献求助10
18秒前
wait发布了新的文献求助10
21秒前
Akina发布了新的文献求助30
22秒前
北北北完成签到,获得积分10
24秒前
24秒前
今后应助小吴同学采纳,获得10
25秒前
25秒前
恶恶么v发布了新的文献求助10
28秒前
小娟娟发布了新的文献求助10
28秒前
高分求助中
Востребованный временем 2500
Aspects of Babylonian celestial divination: the lunar eclipse tablets of Enūma Anu Enlil 1000
Kidney Transplantation: Principles and Practice 1000
Separation and Purification of Oligochitosan Based on Precipitation with Bis(2-ethylhexyl) Phosphate Anion, Re-Dissolution, and Re-Precipitation as the Hydrochloride Salt 500
Encyclopedia of Mental Health Reference Work 500
The Collected Works of Jeremy Bentham: Rights, Representation, and Reform: Nonsense upon Stilts and Other Writings on the French Revolution 320
Mercury and Silver Mining in the Colonial Atlantic 300
热门求助领域 (近24小时)
化学 医学 生物 材料科学 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 基因 遗传学 物理化学 催化作用 细胞生物学 免疫学 冶金
热门帖子
关注 科研通微信公众号,转发送积分 3378068
求助须知:如何正确求助?哪些是违规求助? 2993833
关于积分的说明 8756480
捐赠科研通 2678270
什么是DOI,文献DOI怎么找? 1467138
科研通“疑难数据库(出版商)”最低求助积分说明 678578
邀请新用户注册赠送积分活动 670160