An External Calibration Method for the Circular Scanning Device Used for Bend Tube Intelligent Inspection
文献类型：会议论文
| 作者 | Zou HB(邹杭波)1,2,3 ; Xia RB(夏仁波)1,3; Zhao JB(赵吉宾)1,3; Zhang TY(张天宇)1,3; Chen YL(陈月玲)1,3; Fu SP(付生鹏)1,3
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| 出版日期 | 2021 |
| 会议日期 | September 24-26,. 2021 |
| 会议地点 | Changzhou, China |
| 关键词 | component intelligent inspection 3D scanning external calibration multiple laser profiles data fusion |
| 页码 | 299-303 |
| 英文摘要 | In order to realize the intelligent inspection of bend tube processing defects, such as the wrinkles and the ovality, a 3D scanning device composed of a linear translation stage and four uniformly distributed laser profilers (LPs) is built in this paper. For the external calibration of this type of device, the major contribution of this paper are: 1) A 3D calibration object composed of three non-collinear target balls (TBs) is designed. Even if the scanning angle of each LP is limited, there are still common geometric features. 2) A frame-by-frame fusion method for scan data from multiple LPs that only requires one set of rail parameters is proposed to avoid the introduction of multiple sets of rail errors that affect equipment calibration and data fusion. When calculating the parameters, the shape error of the TBs after fusing the scan data of each LP is taken as the objective function, and the nonlinear least square method is used to solve the problem. Finally, the scan data fusion can maintain the accuracy and stability of the shape. The fitting error of the TB with a nominal radius of 19.05mm does not increase with the increase of the guideway stroke, the average fitting error of the radius is stable at about 0.0014mm, and the average RMSE of the surface point is stable at about 0.0426mm. |
| 产权排序 | 1 |
| 会议录 | 2021 3rd International Symposium on Robotics & Intelligent Manufacturing Technology (ISRIMT)
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-6654-3718-9 |
| 源URL | [http://ir.sia.cn/handle/173321/29964]  |
| 专题 | 工艺装备与智能机器人研究室 沈阳自动化研究所_装备制造技术研究室 |
| 通讯作者 | Xia RB(夏仁波); Zhao JB(赵吉宾) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.University of Chinese Academy of Sciences, Beijing 100049, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China |
| 推荐引用方式 GB/T 7714 | Zou HB,Xia RB,Zhao JB,et al. An External Calibration Method for the Circular Scanning Device Used for Bend Tube Intelligent Inspection[C]. 见:. Changzhou, China. September 24-26,. 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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