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首页> 美国卫生研究院文献>Sensors (Basel Switzerland) >Development and Performance Evaluation of Image-Based Robotic Waxing System for Detailing Automobiles
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Development and Performance Evaluation of Image-Based Robotic Waxing System for Detailing Automobiles

机译：基于图像的汽车美容机器人注蜡系统的开发与性能评估

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摘要

Waxing is an important aspect of automobile detailing, aimed at protecting the finish of the car and preventing rust. At present, this delicate work is conducted manually due to the need for iterative adjustments to achieve acceptable quality. This paper presents a robotic waxing system in which surface images are used to evaluate the quality of the finish. An RGB-D camera is used to build a point cloud that details the sheet metal components to enable path planning for a robot manipulator. The robot is equipped with a multi-axis force sensor to measure and control the forces involved in the application and buffing of wax. Images of sheet metal components that were waxed by experienced car detailers were analyzed using image processing algorithms. A Gaussian distribution function and its parameterized values were obtained from the images for use as a performance criterion in evaluating the quality of surfaces prepared by the robotic waxing system. Waxing force and dwell time were optimized using a mathematical model based on the image-based criterion used to measure waxing performance. Experimental results demonstrate the feasibility of the proposed robotic waxing system and image-based performance evaluation scheme.
机译：打蜡是汽车美容的重要方面，旨在保护汽车的外观并防止生锈。目前，由于需要反复调整以达到可接受的质量，因此需要手动进行这种精细的工作。本文介绍了一种自动上蜡系统，其中使用了表面图像来评估饰面质量。 RGB-D摄像头用于构建详细描述钣金组件的点云，以实现机器人操纵器的路径规划。该机器人配备了一个多轴力传感器，以测量和控制施加和抛光蜡所涉及的力。使用图像处理算法分析了由经验丰富的汽车美容师打蜡的钣金零件的图像。从图像中获得了高斯分布函数及其参数化值，用作评估机器人上蜡系统准备的表面质量的性能标准。使用数学模型，基于用于测量打蜡性能的基于图像的标准，优化了打蜡力和保压时间。实验结果证明了所提出的机器人打蜡系统和基于图像的性能评估方案的可行性。

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