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

计算机视觉 人工智能 点云 计算机科学 扫描仪 跟踪(教育) 计量系统 移动机器人 投影(关系代数) 机器人 天文 算法 心理学 教育学 物理
作者
Jinshan Wang,Bo Tao,Zeyu Gong,Supu Yu,Zhouping Yin
出处
期刊:Robotics and Computer-integrated Manufacturing [Elsevier BV]
卷期号:67: 102010-102010 被引量:79
标识
DOI:10.1016/j.rcim.2020.102010
摘要

Large-scale components with complex curved surfaces are the foundation of aerospace, energy, and transportation fields, while full-field 3D measurements along with accuracy analyses are critical to control manufacturing quality. Most of the existing measurement methodologies rely on manual inspection, and the accuracy and efficiency are unsatisfactory. 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 measurement system is composed of a mobile manipulator, a fringe projection scanner and a stereo vision system, and it can provide accurate noncontact 3D measurements of large-scale complex components. By proposing a hand-eye calibration method and scanning pose tracking method based on a stereo vision system, the local point clouds obtained by scanning along with the movement of the mobile robot around the component can be accurately unified into a common reference frame. The proposed measuring system and method are verified by measuring and reconstructing the whole surface of a wind turbine blade model with a length of 2.8 m. The accuracy evaluation proves the effectiveness of the proposed system and method.
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