A New Machine Vision Method for Target Detection and Localization of Malleable Iron Pipes: An Experimental Case

Author:

Pan Zhongqiang,Zhang Dong

Abstract

Malleable iron pipes are widely used in construction, manufacturing, aerospace, and many other fields. Cast malleable iron pipes need to be treated flat to meet the needs of different shapes and sizes. This process is usually completed manually, which is low efficiency and is subject to potential safety risks. To solve this problem, a machine vision method is proposed to detect and localize malleable iron pipes. Point cloud images of malleable iron pipes are obtained by the Random Sample Consensus (RANSAC) algorithm, and precise matching is completed by the Iterative Closest Point (ICP) algorithm to obtain more accurate positions, so as to realize robot grasping. The grasping experiments of malleable iron pipes with the same and different specifications were carried out using a specially designed experimental platform. The results show that malleable iron pipes can be identified effectively and that the corresponding grasping success rate is more than 85 %. The target detection and localization method can obtain the three-dimensional (3D) position of malleable iron pipes to improve grasping efficiency, which provided a certain theoretical basis and guiding significance to improve production efficiency in practice.

Publisher

Kaunas University of Technology (KTU)

Subject

Electrical and Electronic Engineering

Cited by 2 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3