Precise 3D Lug Pose Detection Sensor for Automatic Robot Welding Using a Structured-Light Vision System

霍夫变换 人工智能 计算机视觉 姿势 计算机科学 机器人 图像传感器 直线(几何图形) 结构光 图像(数学) 数学 几何学
作者
Jae Byung Park,Seung Hun Lee,Il Jae Lee
出处
期刊:Sensors [MDPI AG]
卷期号:9 (9): 7550-7565 被引量:28
标识
DOI:10.3390/s90907550
摘要

In this study, we propose a precise 3D lug pose detection sensor for automatic robot welding of a lug to a huge steel plate used in shipbuilding, where the lug is a handle to carry the huge steel plate. The proposed sensor consists of a camera and four laser line diodes, and its design parameters are determined by analyzing its detectable range and resolution. For the lug pose acquisition, four laser lines are projected on both lug and plate, and the projected lines are detected by the camera. For robust detection of the projected lines against the illumination change, the vertical threshold, thinning, Hough transform and separated Hough transform algorithms are successively applied to the camera image. The lug pose acquisition is carried out by two stages: the top view alignment and the side view alignment. The top view alignment is to detect the coarse lug pose relatively far from the lug, and the side view alignment is to detect the fine lug pose close to the lug. After the top view alignment, the robot is controlled to move close to the side of the lug for the side view alignment. By this way, the precise 3D lug pose can be obtained. Finally, experiments with the sensor prototype are carried out to verify the feasibility and effectiveness of the proposed sensor.
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
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
刚刚
牧瞻完成签到,获得积分10
1秒前
Akim应助畅快的觅风采纳,获得10
1秒前
Rheane发布了新的文献求助10
2秒前
2秒前
史迪仔发布了新的文献求助10
3秒前
keyaner发布了新的文献求助200
3秒前
神经哇发布了新的文献求助10
4秒前
博林大师完成签到,获得积分10
5秒前
pluto完成签到,获得积分0
5秒前
ZKK发布了新的文献求助10
6秒前
7秒前
likk发布了新的文献求助10
7秒前
善学以致用应助wwl采纳,获得10
8秒前
zoe_zzz完成签到,获得积分10
10秒前
粗犷的沛容完成签到,获得积分0
11秒前
zxinttt发布了新的文献求助10
12秒前
12秒前
香蕉觅云应助赵安琪采纳,获得10
12秒前
中和皇极举报似是而非求助涉嫌违规
13秒前
13秒前
13秒前
雁过完成签到 ,获得积分10
13秒前
psg完成签到,获得积分10
13秒前
慢慢发布了新的文献求助10
14秒前
畅快的觅风完成签到,获得积分10
14秒前
wrr完成签到,获得积分10
15秒前
科研顺利完成签到,获得积分10
15秒前
偶然发现的西柚完成签到 ,获得积分10
16秒前
醉烟雨完成签到,获得积分10
16秒前
夜夜笙歌嫖断屌完成签到,获得积分10
19秒前
溪鱼发布了新的文献求助10
20秒前
梅子酒发布了新的文献求助10
21秒前
21秒前
科研通AI2S应助彩虹采纳,获得10
22秒前
wwl完成签到,获得积分10
23秒前
likk完成签到,获得积分10
24秒前
24秒前
peikyang完成签到,获得积分10
25秒前
脑洞疼应助你听风在吹采纳,获得10
25秒前
高分求助中
Rock-Forming Minerals, Volume 3C, Sheet Silicates: Clay Minerals 2000
The late Devonian Standard Conodont Zonation 2000
Nickel superalloy market size, share, growth, trends, and forecast 2023-2030 2000
The Lali Section: An Excellent Reference Section for Upper - Devonian in South China 1500
The Healthy Socialist Life in Maoist China 600
The Vladimirov Diaries [by Peter Vladimirov] 600
Encyclopedia of Computational Mechanics,2 edition 500
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 催化作用 物理化学 免疫学 量子力学 细胞生物学
热门帖子
关注 科研通微信公众号,转发送积分 3269641
求助须知:如何正确求助?哪些是违规求助? 2909365
关于积分的说明 8348600
捐赠科研通 2579582
什么是DOI,文献DOI怎么找? 1402926
科研通“疑难数据库(出版商)”最低求助积分说明 655575
邀请新用户注册赠送积分活动 634853