Browse > Article

A Study on Intelligent Robot Bin-Picking System with CCD Camera and Laser Sensor  

Kim, Jin-Dae ((주)유진엠에스 기술연구소)
Lee, Jeh-Won (영남대학교 기계공학부)
Shin, Chan-Bai (울산과학대학 디지털기계학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.23, no.11, 2006 , pp. 58-67 More about this Journal
Abstract
Due to the variety of signal processing and complicated mathematical analysis, it is not easy to accomplish 3D bin-picking with non-contact sensor. To solve this difficulties the reliable signal processing algorithm and a good sensing device has been recommended. In this research, 3D laser scanner and CCD camera is applied as a sensing device respectively. With these sensor we develop a two-step bin-picking method and reliable algorithm for the recognition of 3D bin object. In the proposed bin-picking, the problem is reduced to 2D intial recognition with CCD camera at first, and then 3D pose detection with a laser scanner. To get a good movement in the robot base frame, the hand eye calibration between robot's end effector and sensing device should be also carried out. In this paper, we examine auto-calibration technique in the sensor calibration step. A new thinning algorithm and constrained hough transform is also studied for the robustness in the real environment usage. From the experimental results, we could see the robust bin-picking operation under the non-aligned 3D hole object.
Keywords
Bin-picking; CCD camera; Laser scanner; Two-step method; Auto-calibration; non-aligned 3D hole object;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 Tsai, R. Y., 'A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-self TV cameras and lenses,' IEEE Journal of Robotics and Automation, Vol. 3, pp. 323-44, 1987   DOI   ScienceOn
2 Hujazi, A. and Sood, A., 'Range image segmentation with applications to robust bin-picking using vaccum gripper,' IEEE Transactions on System, Man and Cybernetics, Vol. 20, pp. 1313-1324, 1990   DOI   ScienceOn
3 Seitz, G. and Tiziani, H. J., 'Resolution limits of active triangulation systems by defocusing,' Optical Engineering, Vol. 32, pp. 1374-1383, 1993   DOI   ScienceOn
4 Rahardja, K. and Kosaka, A., 'Vision-based binpicking: recognition and localization of multiple complex objects using simple visual cues,' IEEE Proc. of International Conference on Intelligent Robots and System, Vol. 3, pp. 1448-1457, 1996   DOI
5 Ikeuchi, K., 'Generating an interpretation tree from a CAD model for 3d-object recognition in bin-picking tasks,' International Journal of Computer Vision, Vol. 1, pp. 145-165, 1987   DOI
6 Zhang, Y. and Paik, J., '3-D Object Representation from Multi-view Range Data Applying Deformable Superquadrics,' Int'l Conf. Pattern Recognition, Vol. 3, pp. 273-276, 2002   DOI
7 Shin, C. B., Kim, J. D. and Lee, J. W., 'A study on development of PC based in-line inspection system with structure light laser,' J. of KSPE, Vol. 22, No. 11, pp. 82-90, 2005   과학기술학회마을