An adaptive laser focus auto-positioning method for non-datum complex components based on 3D vision

2022 ◽  
Vol 149 ◽  
pp. 106834
Author(s):  
Xiaodong Wang ◽  
Bin Liu ◽  
Xuesong Mei ◽  
Wenjun Wang ◽  
Wenqiang Duan ◽  
...  
Author(s):  
Yi Liu ◽  
Ming Cong ◽  
Hang Dong ◽  
Dong Liu

Purpose The purpose of this paper is to propose a new method based on three-dimensional (3D) vision technologies and human skill integrated deep learning to solve assembly positioning task such as peg-in-hole. Design/methodology/approach Hybrid camera configuration was used to provide the global and local views. Eye-in-hand mode guided the peg to be in contact with the hole plate using 3D vision in global view. When the peg was in contact with the workpiece surface, eye-to-hand mode provided the local view to accomplish peg-hole positioning based on trained CNN. Findings The results of assembly positioning experiments proved that the proposed method successfully distinguished the target hole from the other same size holes according to the CNN. The robot planned the motion according to the depth images and human skill guide line. The final positioning precision was good enough for the robot to carry out force controlled assembly. Practical implications The developed framework can have an important impact on robotic assembly positioning process, which combine with the existing force-guidance assembly technology as to build a whole set of autonomous assembly technology. Originality/value This paper proposed a new approach to the robotic assembly positioning based on 3D visual technologies and human skill integrated deep learning. Dual cameras swapping mode was used to provide visual feedback for the entire assembly motion planning process. The proposed workpiece positioning method provided an effective disturbance rejection, autonomous motion planning and increased overall performance with depth images feedback. The proposed peg-hole positioning method with human skill integrated provided the capability of target perceptual aliasing avoiding and successive motion decision for the robotic assembly manipulation.


2013 ◽  
Vol 52 (3) ◽  
pp. 415 ◽  
Author(s):  
Ilya Alexeev ◽  
Johannes Strauss ◽  
Andreas Gröschl ◽  
Kristian Cvecek ◽  
Michael Schmidt

2018 ◽  
Vol 12 (5-6) ◽  
pp. 50-57 ◽  
Author(s):  
I. S. Voskresensky ◽  
A. A. Suchilin ◽  
L. A. Ushakova ◽  
V. M. Shaforostov ◽  
A. L. Entin ◽  
...  

To use unmanned aerial vehicles (UAVs) for obtaining digital elevation models (DEM) and digital terrain models (DTM) is currently actively practiced in scientific and practical purposes. This technology has many advantages: efficiency, ease of use, and the possibility of application on relatively small area. This allows us to perform qualitative and quantitative studies of the progress of dangerous relief-forming processes and to assess their consequences quickly. In this paper, we describe the process of obtaining a digital elevation model (DEM) of the relief of the slope located on the bank of the Protva River (Satino training site of the Faculty of Geography, Lomonosov Moscow State University). To obtain the digital elevation model, we created a temporary geodetic network. The coordinates of the points were measured by the satellite positioning method using a highprecision mobile complex. The aerial survey was carried out using an unmanned aerial vehicle from a low altitude (about 40–45 m). The processing of survey materials was performed via automatic photogrammetry (Structure-from-Motion method), and the digital elevation model of the landslide surface on the Protva River valley section was created. Remote sensing was supplemented by studying archival materials of aerial photography, as well as field survey conducted immediately after the landslide. The total amount of research results made it possible to establish the causes and character of the landslide process on the study site. According to the geomorphological conditions of formation, the landslide refers to a variety of landslideslides, which are formed when water is saturated with loose deposits. The landslide body was formed with the "collapse" of the blocks of turf and deluvial loams and their "destruction" as they shifted and accumulated at the foot of the slope.


2020 ◽  
Vol 40 (10) ◽  
pp. 870-872
Author(s):  
T. R. Ablyaz ◽  
E. S. Shlykov ◽  
K. R. Muratov

ROBOT ◽  
2012 ◽  
Vol 34 (5) ◽  
pp. 559 ◽  
Author(s):  
Xiaolong CHEN ◽  
Yongjie PANG ◽  
Ye LI ◽  
Pengyun CHEN

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