Based on the characteristics of line structured light sensor, a speedy method for the calibration was established. With the coplanar reference target, the spacial pose between camera and optical plane can be calibrate...Based on the characteristics of line structured light sensor, a speedy method for the calibration was established. With the coplanar reference target, the spacial pose between camera and optical plane can be calibrated by using of the camera’s projective center and the light’s information in the camera’s image surface. Without striction to the movement of the coplanar reference target and assistant adjustment equipment, this calibration method can be implemented. This method has been used and decreased the cost of calibration equipment, simplified the calibration procedure, improved calibration efficiency. Using experiment, the sensor can attain relative accuracy about 0.5%, which indicates the rationality and effectivity of this method.展开更多
A novel hybrid visual servoing control method based on structured light vision is pro-posed for robotic arc welding with a general six degrees of freedom robot. It consists of a positioncontrol inner-loop in Cartesian...A novel hybrid visual servoing control method based on structured light vision is pro-posed for robotic arc welding with a general six degrees of freedom robot. It consists of a positioncontrol inner-loop in Cartesian space and two outer-loops. One is position-based visual control inCartesian space for moving in the direction of weld seam, i.e., weld seam tracking, another is image-based visual control in image space for adjustment to eliminate the errors in the process of tracking.A new Jacobian matrix from image space of the feature point on structured light stripe to Cartesianspace is provided for dierential movement of the end-e?ector. The control system model is simplifiedand its stability is discussed. An experiment of arc welding protected by gas CO2 for verifying iswell conducted.展开更多
Boiling structures on evaporation surface of red copper sheet with a diameter （D） of 10 mm and a wall thickness （h） of 1 mm were processed by the ploughing-extrusion （P-E） processing method, which is one part of...Boiling structures on evaporation surface of red copper sheet with a diameter （D） of 10 mm and a wall thickness （h） of 1 mm were processed by the ploughing-extrusion （P-E） processing method, which is one part of the phase-change heat sink for high power （HP） light emitting diode （LED）. The experimental results show that two different structures of rectangular- and triangular-shaped micro-grooves are formed in P-E process. When P-E depth （ap）, interval of helical grooves （dp） and rotation speed （n） are 0.12 ram, 0.2 mm and 100 r/min, respectively, the boiling structures of triangular-shaped grooves with the fin height of 0.15 mm that has good evaporation performance are obtained. The shapes of the boiling structures are restricted by dp and ap, and dp is determined by n and amount of feed （f）. The ploughing speed has an important influence on the formation of groove structure in P-E process.展开更多
文摘Based on the characteristics of line structured light sensor, a speedy method for the calibration was established. With the coplanar reference target, the spacial pose between camera and optical plane can be calibrated by using of the camera’s projective center and the light’s information in the camera’s image surface. Without striction to the movement of the coplanar reference target and assistant adjustment equipment, this calibration method can be implemented. This method has been used and decreased the cost of calibration equipment, simplified the calibration procedure, improved calibration efficiency. Using experiment, the sensor can attain relative accuracy about 0.5%, which indicates the rationality and effectivity of this method.
文摘A novel hybrid visual servoing control method based on structured light vision is pro-posed for robotic arc welding with a general six degrees of freedom robot. It consists of a positioncontrol inner-loop in Cartesian space and two outer-loops. One is position-based visual control inCartesian space for moving in the direction of weld seam, i.e., weld seam tracking, another is image-based visual control in image space for adjustment to eliminate the errors in the process of tracking.A new Jacobian matrix from image space of the feature point on structured light stripe to Cartesianspace is provided for dierential movement of the end-e?ector. The control system model is simplifiedand its stability is discussed. An experiment of arc welding protected by gas CO2 for verifying iswell conducted.
基金Projects(50436010, 50675070) supported by the National Natural Science Foundation of China Project(07118064) supported by the Natural Science Foundation of Guangdong Province, China+1 种基金 Project(U0834002) supported by the Joint Fund of NSFC-Guangdong of ChinaProjects(SY200806300289A, JSA200903190981A) supported by Shenzhen Scientific Program, China
文摘Boiling structures on evaporation surface of red copper sheet with a diameter （D） of 10 mm and a wall thickness （h） of 1 mm were processed by the ploughing-extrusion （P-E） processing method, which is one part of the phase-change heat sink for high power （HP） light emitting diode （LED）. The experimental results show that two different structures of rectangular- and triangular-shaped micro-grooves are formed in P-E process. When P-E depth （ap）, interval of helical grooves （dp） and rotation speed （n） are 0.12 ram, 0.2 mm and 100 r/min, respectively, the boiling structures of triangular-shaped grooves with the fin height of 0.15 mm that has good evaporation performance are obtained. The shapes of the boiling structures are restricted by dp and ap, and dp is determined by n and amount of feed （f）. The ploughing speed has an important influence on the formation of groove structure in P-E process.
