Abstract
In this paper, an efficient method based on a light section sensor is presented for measuring cylindrical objects’ radii and orientations in a robotic application. By this method, the cylindrical objects can be measured under some special conditions, such as when the cylindrical objects are welded with others, or in the presence of interferences. Firstly, the measurement data are roughly identified and accurately screened to effectively recognize ellipses. Secondly, the data are smoothed and homogenized to eliminate the effect of laser line loss or jump and reduce the influence of the inhomogeneity of measurement data on the ellipse fitting to a minimum. Finally, the ellipse fitting is carried out to obtain the radii and orientations of the cylindrical objects. Measuring experiments and results demonstrate the effective of the proposed radius and orientation measurement method for cylindrical object.
Highlights
Cylindrical objects are widely used in industry
In order to eliminate the effects of the warps and deformations, the radii and orientations of the cylindrical objects must be measured before processing
The main contribution of this paper is the radius and orientation measurement method of cylindrical objects with interference and multi-cylindrical object measurement based on a light section sensor
Summary
Cylindrical objects are widely used in industry. When cylindrical objects (for example, pipes, thin rods) are processed such as by one side welding or single punch, warps and deformations always occur. In order to eliminate the effects of the warps and deformations, the radii and orientations of the cylindrical objects must be measured before processing. There are many ways to measure the radius and orientation of cylindrical objects. They can be generally classified into contact and non-contact measurements. There are lots of methods for non-contact measurement, such as electromagnetic induction, visual and laser imaging measurement
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