Abstract
Precision measurement of large-scale workpiece is one of the most difficult problems in industrial measurement. In order to select suitable viewpoints to obtain precise measurement data, a lot of research has been done in the past decades. This paper proposes an automated view planning method of robot 3D measurement for large-scale workpiece. A viewpoint constraint model is used for landmarks inspection. The viewpoints are generated based on the visual cone theory and checked for validity. A cost function for robot motion is designed based on path length minimization, after what the optimal viewpoint can be determined. The simulated annealing algorithm is used to calculate the optimal sequence for robot to pass through all optimal viewpoints with the shortest total distance. Experimental result shows that the view planning method proposed in this paper increases the automation and efficiency of the whole system.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Cowan, C.K.: Model-based synthesis of sensor location. In: Proceedings 1988 IEEE International Conference on Robotics and Automation, pp. 900–905 (1998)
Tarabanis, K., Tsai, R.Y., Abrams, S.: Planning viewpoints that simultaneously satisfy several feature detectability constraints for robotic vision. In: Fifth International Conference on Advanced Robotics’ Robots in Unstructured Environments, pp. 1410–1415. IEEE (1991)
Yang, C.C., Ciarallo, F.W.: Optimized sensor placement for active visual inspection. J. Field Robot. 18(1), 1–15 (2015)
Tarbox, G.H., Gottschlich, S.N.: Planning for complete sensor coverage in inspection. Comput. Vis. Image Underst. 61(1), 84–111 (1995)
Scott, W.R.: Model-based view planning. Mach. Vis. Appl. 20(1), 47–69 (2009). https://doi.org/10.1007/s00138-007-0110-2
Guotian, Y., Ruifang, D., Hua, W.U., et al.: Viewpoint optimization using genetic algorithm for flying robot inspection of electricity transmission tower equipment. Chin. J. Electron. 02, 213–218 (2014)
Zhang, X., Alarcon-Herrera, J.L., Chen, X.: Coverage enhancement for deployment of multi-camera networks, pp. 909–914 (2015)
Zhe, C., Fumin, Z., Xinghua, Q., et al.: Fast measurement and reconstruction of large workpieces with freeform surfaces by combining local scanning and global position data. Sensors 15(6), 14328–14344 (2015)
Wang, J., Tao, B., Gong, Z., et al.: A mobile robotic measurement system for large-scale complex components based on optical scanning and visual tracking. Robot. Comput. Integr. Manuf. 67, 102010 (2020)
Budhiraja, A.K.: View point planning for inspecting static and dynamic scenes with multi-robot teams. Virginia Polytechnic Institute and State University (2017)
Huang, Y., Gupta, K.: An adaptive configuration-space and work-space based criterion for view planning. In: Intelligent Robots and Systems. IEEE (2005)
Li, L., Xiao, N.: Volumetric view planning for 3D reconstruction with multiple manipulators. Ind. Robot 42(6), 533–543 (2015)
Shi, Q., Xi, N., Spagnuluo, C.: A feedback design to a CAD-guided area sensor planning system for automated 3D shape inspection. Comput. Aided Des. Appl. 4(1–4), 209–218 (2017)
Spyridi, A.J., Requicha, A.A.G.: Accessibility analysis for the automatic inspection of mechanical parts by coordinate measuring machines. Robot. Autom. 15(4), 714–727 (1990)
Kuffner, J.J., Lavalle, S.M.: RRT-connect: an efficient approach to single-query path planning. In: Robotics and Automation. IEEE (2002)
Kirkpatrick, S., Gelatt, C.D., Vecchi, M.P.: Optimization by simulated annealing. Science 220(4598), 671–680 (1983)
Han, P.: Research on key technique of viewpoint generation and path planning for automated surface structured-light 3D measurement. Huazhong University of Science & Technology (2018)
Acknowledgement
This research was partially supported by the key research project of the Ministry of Science and Technology (Grant No. 2018YFB1306802) and the National Natural Science Foundation of China (Grant No. 51975344).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Yang, Y., Zhang, L., Wu, Z., Zhang, X. (2020). An Automated View Planning Method of Robot 3D Measurement. In: Chan, C.S., et al. Intelligent Robotics and Applications. ICIRA 2020. Lecture Notes in Computer Science(), vol 12595. Springer, Cham. https://doi.org/10.1007/978-3-030-66645-3_38
Download citation
DOI: https://doi.org/10.1007/978-3-030-66645-3_38
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-66644-6
Online ISBN: 978-3-030-66645-3
eBook Packages: Computer ScienceComputer Science (R0)