scholarly journals Robust laser positioning in a mobile robot machine vision system

2021 ◽  
pp. 27-36
Author(s):  
Alexander Gurko ◽  
Oleg Sergiyenko ◽  
Lars Lindner
Keyword(s):  
Machine Vision ◽  
Mobile Robot ◽  
Laser Scanning ◽  
Vision System ◽  
Parametric Uncertainty ◽  
Dc Motor ◽  
Field Of View ◽  
Autonomous Mobile Robot ◽  
Drive Model ◽  
Motor Model

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.

Navigation System for Olfactory Mobile Robot by Using Machine Vision System

2021 ◽  
Author(s):  
Gamma Aditya Rahardi ◽  
Khairul Anam ◽  
Ali Rizal Chaidir ◽  
Devita Ayu Larasati
Keyword(s):  
Machine Vision ◽  
Mobile Robot ◽  
Navigation System ◽  
Vision System ◽  
Machine Vision System

Neural Network Vision-Guided Mobile Robot for Retrieving Driving-Range Golf Balls

2006 ◽  
Vol 10 (2) ◽  
pp. 181-186 ◽  
Author(s):  
Elmer P. Dadios ◽  
◽  
Kaoru Hirota ◽  
Michelle L. Catigum ◽  
Albert C. Gutierrez ◽  
...  
Keyword(s):  
Neural Network ◽  
Mobile Robot ◽  
Open Field ◽  
Vision System ◽  
Time Of Day ◽  
Autonomous Mobile Robot ◽  
Rotating Blades ◽  
Driving Range

We developed an autonomous mobile robot with neural network (NN) vision that searches for and collects golf balls on an open or an indoor golf driving range. The robot recognizes range borderlines by red stripes. Scattered golf balls are collected using mechanically designed rotating blades. The NN vision identifies objects that are not golf balls and prevents the robot from picking them. The vision system is robust enough to navigate an open field and pick up the golf balls any time of day. Results of the experiments showed that our proposal operates accurately and reliably.

Study on 3-D Laser-Scanning-Based Machine Vision System for Robotic Construction Vehicles

2012 ◽  
Vol 591-593 ◽  
pp. 1391-1395
Author(s):  
Jin Ling Cao ◽  
Ying Luo ◽  
Zhi Li
Keyword(s):  
Machine Vision ◽  
Laser Scanning ◽  
Vision System ◽  
Data Sampling ◽  
Machine Vision System ◽  
Laser Rangefinder ◽  
Autonomous Operation ◽  
Object Contour ◽  
Good Spatial Resolution ◽  
Robotic Construction

Based on the AR4000-LIR type infrared laser rangefinder, the prototype of the 3-D laser-scanning-based machine vision system for robotic construction vehicles is developed and the software for scanning control, swing control and data sampling/processing is programmed. The experimental results show that the system has good spatial resolution and stability and is able to be used for the task planning of the robotic construction vehicles which is in autonomous operation, and better able to scan the detail object contour.

A Fast and Precise Measuring Method for Large Workpiece Based on Machine Vision

2010 ◽  
Vol 139-141 ◽  
pp. 2076-2081 ◽  
Author(s):  
Hu Zhou ◽  
Jian Guo Yang
Keyword(s):  
Machine Vision ◽  
Template Matching ◽  
Vision System ◽  
Measuring Method ◽  
Search Space ◽  
Field Of View ◽  
Image Mosaic ◽  
Machine Vision System ◽  
Stop Criterion ◽  
Machine Parts

Image measurement based on machine vision is a promising method for the precise measurements of machine parts. As for a large sized workpiece that exceeds the FOV (field of view) of the camera, image mosaic must be performed to implement measurement. While traditional template matching algorithms will lead to long runtime consumption, a combination of algorithms with precise mechanical positioning function using motion control was proposed and applied in the machine vision system. The manufacturing and installing errors have been taken into account to improve the positioning accuracy. This method minimized the search space and thereby reduced the runtime substantially. In addition, a stop criterion of the computation for the algorithms was applied to save a considerable amount of time in the process. Experimental results show that the precision of the image mosaic meets the requirements while speeding up the process significantly.

Autonomous Mobile Robot for Small Advertisements Cleaning

2011 ◽  
Vol 183-185 ◽  
pp. 1757-1761
Author(s):  
Dong Jie Li ◽  
Wan Zhe Xiao ◽  
Jia Bin Wang
Keyword(s):  
Mobile Robot ◽  
Circuit Design ◽  
Vision System ◽  
Control Strategies ◽  
Hardware Design ◽  
Autonomous Mobile Robot ◽  
Service Oriented ◽  
Design Requirements ◽  
Robot Body ◽  
Hardware Structure

A mobile robot with autonomous recognition and automatic clearing small advertisements on the ground is presented. It’s the service-oriented robot for cleaning of small advertisements. The robot body is designed according to the design requirements of clearing and the control strategies for tracing and recognition small advertisements are proposed. The key issue of the robot is the hardware design for moving clean assisted by vision system and corresponding recognition methods. The results show the feasibility of the hardware structure, circuit design and program algorithm.

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