Mobile robot vision system using continuous laser scanning for industrial application
Mobile robot vision system using continuous laser scanning for industrial application
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DOI：
10.1108/ir-01-2016-0048
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发表时间：
2016-01-01
影响因子：
1.8
通讯作者：
Tyrsa, Vera
中科院分区：
文献类型：
--
作者：
Lindner, Lars;Sergiyenko, Oleg;Tyrsa, Vera
目的 - 本文的目的是介绍和研究一种新型机器人视觉系统，该系统使用激光动态三角测量来确定观察对象的三维 (3D) 坐标。以前使用的不连续扫描方法的物理操作原理被连续方法所取代。从而使以前受这种离散化限制的应用成为可能。 设计/方法/途径 - 以前使用的原型 2 号使用步进电机实现不连续激光扫描，被新开发的原型 3 号取代，该原型包含伺服电机，以实现连续激光扫描。新原型的宽度只有旧原型的一半，而且比旧原型要小得多，因此也更轻。此外，不使用任何传输装置，减少了激光定位的系统误差，提高了系统的可靠性。研究结果 - 通过使用连续激光扫描方法代替不连续激光扫描方法，可以消除激光扫描仪场中的盲区。从而，同样通过改变物理操作原理，可以实现以前受固定步长或观察物距限制的应用。通过使用伺服电机代替步进电机，还可以显着减少定位时间，保持相对定位误差小于1%。原创性/价值-原创性基于用连续激光扫描代替不连续的物理操作原理。以前使用的步进电机使激光扫描仪场离散化，从而产生盲区，无法检测到 3D 坐标。这些步进电机被伺服电机取代，以消除这些缺点并提供连续的激光扫描，消除了视场中的盲区，并加速了激光扫描仪的阶跃响应。
Purpose - The purpose of this paper is the presentation and research of a novel robot vision system, which uses laser dynamic triangulation, to determine three-dimensional (3D) coordinates of an observed object. The previously used physical operation principle of discontinuous scanning method is substituted by continuous method. Thereby applications become possible that were previously limited by this discretization.Design/methodology/approach - The previously used prototype No. 2, which uses stepping motors to realize a discontinuous laser scan, was substituted by the new developed prototype No. 3, which contains servomotors, to achieve a continuous laser scan. The new prototype possesses only half the width and turns out to be significantly smaller and therefore lighter than the old one. Furthermore, no transmissions are used, which reduce the systematic error of laser positioning and increase the system reliability.Findings - By using a continuous laser scan method instead of discontinuous laser scan method, dead zones in the laser scanner field can be eliminated. Thereby, also by changing the physical operation principle, the implementation of applications is allowed, which previously was limited by the fixed step size or by the object distance under observation. By using servomotors instead of stepping motors, also a significant reduced positioning time can be accomplished maintaining the relative positioning error less than 1 per cent.Originality/value - The originality is based on the substitution of the physical operation principle of discontinuous by continuous laser scan. The previously used stepping motors discretized the laser scanner field and thereby produced dead zones, where 3D coordinates cannot be detected. These stepping motors were substituted by servomotors to revoke these disadvantages and provide a continuous laser scan, where dead zones in the field of view get eliminated and the step response of the laser scanner accelerated.