{"title":"一种用于爬壁机器人焊缝检测的交叉结构光传感器","authors":"Liguo Zhang, Wei Ke, Zhenjun Han, Jianbin Jiao","doi":"10.1109/ICMA.2013.6618081","DOIUrl":null,"url":null,"abstract":"In this paper, we design a cross structured light (CSL) sensor for weld line detection on wall-climbing robot platform. The detection and measurement results can navigate robot to move along weld lines. CSL sensor consists of a CSL projector and a camera. The captured cross laser stripe represents the convexities of horizontal and vertical weld lines simultaneously. The sensor is calibrated by a planar target. The experiment results show that the sensor can accurately obtain 3D information of weld line with very low measurement errors.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"17 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"11","resultStr":"{\"title\":\"A cross structured light sensor for weld line detection on wall-climbing robot\",\"authors\":\"Liguo Zhang, Wei Ke, Zhenjun Han, Jianbin Jiao\",\"doi\":\"10.1109/ICMA.2013.6618081\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, we design a cross structured light (CSL) sensor for weld line detection on wall-climbing robot platform. The detection and measurement results can navigate robot to move along weld lines. CSL sensor consists of a CSL projector and a camera. The captured cross laser stripe represents the convexities of horizontal and vertical weld lines simultaneously. The sensor is calibrated by a planar target. The experiment results show that the sensor can accurately obtain 3D information of weld line with very low measurement errors.\",\"PeriodicalId\":335884,\"journal\":{\"name\":\"2013 IEEE International Conference on Mechatronics and Automation\",\"volume\":\"17 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-10-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"11\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 IEEE International Conference on Mechatronics and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICMA.2013.6618081\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Mechatronics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMA.2013.6618081","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A cross structured light sensor for weld line detection on wall-climbing robot
In this paper, we design a cross structured light (CSL) sensor for weld line detection on wall-climbing robot platform. The detection and measurement results can navigate robot to move along weld lines. CSL sensor consists of a CSL projector and a camera. The captured cross laser stripe represents the convexities of horizontal and vertical weld lines simultaneously. The sensor is calibrated by a planar target. The experiment results show that the sensor can accurately obtain 3D information of weld line with very low measurement errors.
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