Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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A Study on Intelligent Robot Bin-Picking System with CCD Camera and Laser Sensor

CCD카메라와 레이저 센서를 조합한 지능형 로봇 빈-피킹에 관한 연구

  • 김진대 ((주)유진엠에스 기술연구소) ;
  • 이재원 (영남대학교 기계공학부) ;
  • 신찬배 (울산과학대학 디지털기계학부)
  • Published : 2006.11.01
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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

References

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