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Single camera-based synchronisation within a concept of robotic assembly in motion

机译：运动中的机械组装概念中基于单相机的同步

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摘要

Purpose - Automated robotic assembly on a moving workpiece, referred to as assembly in motion, demands that an assembly robot is synchronised in all degrees of freedom to the moving workpiece, on which assembly parts are installed. Currently, this requirement cannot be met due to the lack of robust estimation of 3D positions and the trajectory of the moving workpiece. The purpose of this paper is to develop a camera system that measures the 3D trajectory of the moving workpiece for robotic assembly in motion. Design/methodology/approach - For the trajectory estimation, an assembly robot-guided, monocular camera system is developed. The motion trajectory of a workpiece is estimated, as the trajectory is considered as a linear combination of trajectory bases, such as discrete cosine transform bases. Findings - The developed camera system for trajectory estimation is tested within the robotic assembly of a cylinder block in motion. The experimental results show that the proposed method is able to reconstruct arbitrary trajectories of an assembly point on a workpiece moving in 3D space. Research limitations/implications - With the developed technology, a point trajectory can be recovered offline only after all measurement images are acquired. For practical assembly tasks in real production, this method should be extended to determine the trajectory online during the motion of a workpiece. Practical implications - For practical, robotic assembly in motion, such as assembling tires, wheels and windscreens on conveyed vehicle bodies, the developed technology can be used for positioning a moving workpiece, which is in the distant field of an assembly robot. Originality/value - Besides laser trackers, indoor global positioning systems and stereo cameras, this paper provides a solution of trajectory estimation by using a monocular camera system.
机译：目的-在运动的工件上进行自动机器人组装（称为运动中的组装）要求组装机器人在所有自由度上都与安装了组装零件的运动工件同步。当前，由于缺少对3D位置和运动工件的轨迹的可靠估计，因此无法满足此要求。本文的目的是开发一种相机系统，该系统可测量运动中的工件的3D轨迹，以进行运动中的机器人组装。设计/方法/方法-为了进行轨迹估计，开发了装配机器人引导的单眼摄像系统。估计工件的运动轨迹，因为该轨迹被视为轨迹基础（例如离散余弦变换基础）的线性组合。发现-在运动中的气缸体的机器人组件内测试了开发的用于轨迹估计的相机系统。实验结果表明，该方法能够在3D空间中移动的工件上重建装配点的任意轨迹。研究局限性/意义-借助发达的技术，只有在获取所有测量图像之后，点轨迹才能离线恢复。对于实际生产中的实际组装任务，应扩展此方法以在工件运动期间在线确定轨迹。实际意义-对于运动中的实用机器人组装，例如在运输的车身上组装轮胎，车轮和挡风玻璃，所开发的技术可用于定位运动中的工件，该工件处于组装机器人的遥远领域。独创性/价值-除了激光跟踪仪，室内全球定位系统和立体摄像头之外，本文还提供了一种使用单目摄像头系统的轨迹估计解决方案。

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