[Hongke case] Assembling furniture based on 3D camera

        相信大家都经历过一件事:Assemble new furniture.Arrange the parts in order,查看安Packing instructions,Find out how long it takeslonger than expected!

        新加坡南洋理工大学(NTU Singapore)developed by scientistsa robot,Individual chairs can be assembled independently零件.The robot consists of oneHK Ensenso N35 3D相机和Two can抓取物体的Robotic arm composition.

应用

        To help robots assemble IKEA's椅子,来自“School of Mechanical and Aeronautical Engineering”The team coded the algorithm in three different open source libraries.The hardware of the robot is designed to simulate how people mount objects:“眼睛”为3D摄像头,“手臂”为Industrial robotic arm capable of movement in six axes.Every robotic arm有抓手来抓取物体.A force sensor is mounted on the wrist,以确定“手指”grip strength and the strength with which they bring objects into contact with each other.

        When the robot starts the assembly process,The parts on the ground will be photographed3D图像,A map of the estimated location of each component is generated,由HK Ensenso 3DThe camera is done.Cameras work by mimicking human vision“Projection texture stereo vision”(stereo vision).Two cameras acquire images of the same scene from two different locations.Although the content of the scene seen by the camera is the same,However, the position of the object obtained according to the projected rays of the camera is different.A special matching algorithm compares two images,Search for the corresponding point,And visualize the displacement of all points in a disparity map.虹科提供The software can determine the three-dimensional coordinates of each individual image pixel or object point,以便于Complete the assembly of the chair.

难点

        The difficulty is to be as precise as possible in a cluttered environment、快速、Reliable positioning of components.虹科3D相机依赖大功率投影仪足以满足这些需求.Even in tough light conditions,Projectors can also create high-contrast textures on object surfaces through image masks.The projected texture complements the weak or non-existent surface structure of the IKEA chair components.

        这个应用利用了虹科N35系列相机中独有的FlexViewProjector technology,The pattern projected on the surface of the component object can change the texture on the surface,检测得到的深度信息非常精确完整,该项技术是通过Acquire multiple images of the same target scene with different textures融合成一帧图像得到.另一个优势是HK Ensenso软件提供Robot hand-eye calibration function.Use a calibration plate,It ensures the camera coordinate system(In this case the camera is still)The position is relative to the base coordinate system(组件的位置)确定的.This enables the robot's hand to accurately respond to image information,and arrive at the destination accurately.

        “对于一个机器人来说,Putting together a chair precisely is more complicated than manual work”南洋理工大学的Pham Quang Cuong教授解释道.“It has to be broken down into different steps,Such as identifying where the different chair parts are,The force required to grasp these parts,As well as making sure the robotic arms don't collide with each other while moving.With considerable engineering effort,我们开发了算法,Enables robots to assemble chairs on their own.”It turned out that the Nanyang Technological University robot was only used8分55Install IKEA in seconds“Stephen”椅子.

前景

        据Pham Quang Cuong教授介绍,AI will make this application more independent and promising in the future:“We want to incorporate more artificial intelligence into this approach,Make robots more autonomous,This way it can be demonstrated by a human or read the installation manual,Even learn the different steps of assembling a chair from pictures of the assembled product.”

        A robot developed by scientists at Nanyang Technological University in Singapore is being used in research into agile manoeuvres,This is an area of ​​robotics that requires precise control of the force and movement of dedicated robotic hands or fingers.This requires the perfect interaction of all hardware and software components.使用虹科3DThree-dimensional image processing by camera is the key to solving the problem.It's in accuracy、Convincing in terms of economy and speed.

        This marked a real advancement in furniture assembly,And more than that.

虹科Ensenso N35一览表：fast and precise3D视觉

• GigE接口-灵活多样
• 紧凑,Sturdy aluminum housing
• IP65/67
• 全局曝光CMOSsensor and dot pattern laser,Available in blue or infraredled
• 最大帧率（3D）：10
• farthest working distance3000mm(N35)and adjustable
• 输出单个3D点云 
• 提供手眼标定步骤指引,易于设置
• Robotic hand-eye calibration integration with calibration board
• 可集成uEyeSoftware for industrial cameras,例如,捕捉附加的color information or barcodes
• Flexible data and frame rate sample sums叠加