期刊文献+
共找到2篇文章
< 1 >
每页显示 20 50 100
基于时域编码结构光的高精度三维视觉引导抓取系统研究 被引量:3
1
作者 孔令升 崔西宁 +2 位作者 郭俊广 宋展 孙红雨 《集成技术》 2020年第2期38-49,共12页
在许多自动化应用场合中,如分拣和上、下料等过程中,机械臂抓取是非常重要的一个环节。在有遮挡或物体杂乱放置的情况下,对物体进行可靠、快速和精确计算位姿是机械臂抓取的难题之一。该文提出一种针对非规则目标的3D视觉引导抓取系统... 在许多自动化应用场合中,如分拣和上、下料等过程中,机械臂抓取是非常重要的一个环节。在有遮挡或物体杂乱放置的情况下,对物体进行可靠、快速和精确计算位姿是机械臂抓取的难题之一。该文提出一种针对非规则目标的3D视觉引导抓取系统。首先,该系统运用面结构光系统对目标进行高精度三维重建,并建立离线3D点云模板库;然后,将标准模板与点云预处理后的场景点云进行匹配,得到匹配参数后,由坐标系之间的转换矩阵计算机器手抓取位姿;最后,引导机器手完成对目标物体的抓取。实验结果表明,所开发的机械臂抓取系统能够对非规则目标进行可靠、快速和精确的抓取。 展开更多
关键词 精确抓取 结构光 标定 表面模板匹配 位姿计算
下载PDF
Research on ultrasonic detection of complex surfaces
2
作者 江健 周晓军 +1 位作者 郭天太 吴思源 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2005年第10期1146-1151,共6页
Parts of complex surface are widely used now in many fields, and their detection has caused much concern. In China many manufactories still carry on the traditional way of manual detection, which requires highly skill... Parts of complex surface are widely used now in many fields, and their detection has caused much concern. In China many manufactories still carry on the traditional way of manual detection, which requires highly skilled personnel and efficiency is low. Some large manufactories have imported auto-detecting equipments, which require CAD data on the parts, or just divide the surface into several approximate planes for automatic detection. Phased-array system is seldom used, and the cost is high. Besides, most of the systems have not considered the automatic sensitivity compensation of parts with varying thickness. To improve the detection quality and efficiency of nondestructive test (NDT) of parts of complex surface, this paper puts forward an integrated ultrasonic NDT system characterized by: (1) Use of ultrasonic measurement and reverse of curved surface to solve the CAD data problem; (2) Use of an automatic sensitivity compensation algorithm (based on the part’s modelling information obtained in surface reverse) to fit the variety of the thickness; (3) Use of template matching and pseudo-color imaging to improve the quality of detection results. The system features integration of low cost mature technologies, and is suitable for detection of various parts of different complex surfaces in medium-and-small enterprises. The test results showed that the system can automatically detect parts of complex surface successfully, and that the inspection result is good and reliable. 展开更多
关键词 Ultrasonic NDT Complex surface Automatic sensitivity compensation Ultrasonic measurement Surface reverse Template matching Pseudo-color imaging
下载PDF
上一页 1 下一页 到第
使用帮助 返回顶部