Pub Date : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021374
Zaichao Sun, Hanliang Fang, Chaosheng Chou, Fufu Yang, Jun Zhang
Numerical control (NC) system is the core functional module of 5-axis machining devices. The paper presents a dispersing NC system for a novel hybrid machining robot. For this purpose., three issues are clarified., i.e. the architecture., the control strategy and the software of NC system. Firstly., by adopting a multi-axis motion control unit (MCU)., the architecture of a dispersing NC system is designed. Secondly., a control strategy is presented based on tool-path smooth algorithms., kinematics model and kinematic calibration method. By embedding above control strategy., a post-processing software and a human-machine interaction (HMI) software are developed. Finally., a NC system is developed to construct a hybrid machining robot system. A set of kinematic accuracy tests and machining tests are carried out to verify the feasibility of the developed NC system.
{"title":"Design and Development of a Numerical Control System for a Hybrid Machining Robot","authors":"Zaichao Sun, Hanliang Fang, Chaosheng Chou, Fufu Yang, Jun Zhang","doi":"10.1109/WCMEIM56910.2022.10021374","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021374","url":null,"abstract":"Numerical control (NC) system is the core functional module of 5-axis machining devices. The paper presents a dispersing NC system for a novel hybrid machining robot. For this purpose., three issues are clarified., i.e. the architecture., the control strategy and the software of NC system. Firstly., by adopting a multi-axis motion control unit (MCU)., the architecture of a dispersing NC system is designed. Secondly., a control strategy is presented based on tool-path smooth algorithms., kinematics model and kinematic calibration method. By embedding above control strategy., a post-processing software and a human-machine interaction (HMI) software are developed. Finally., a NC system is developed to construct a hybrid machining robot system. A set of kinematic accuracy tests and machining tests are carried out to verify the feasibility of the developed NC system.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125049982","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021355
Cheng Qian, Yingfeng Zhang
The rapidly changing market has stimulated the emergence of self-organizing mechanisms in intelligent manufacturing systems, where resources are generally capable of making decisions through intercommunications and interoperations to maximize system adaptivity. With the increasing number of exceptional events during manufacturing, those mechanisms might eventually fail to react timely to situations of multiple resource conflicts. In this work, we discussed the social networks consisting of various manufacturing resources and provided the relevant modeling techniques including the Resource Description Framework and the Finite State Machine. The function and behavior models can support the autonomous interactions and collaborations among resources, while the communication hub connected the resources and formed a peer-to-peer network. On this basis, the dynamic features of manufacturing networks including the exception propagation phenomenon can be analyzed. A case was studied to identify the bottleneck resources using the complex network theory. This work has provided an analytical platform to optimize manufacturing resources using complex network and graph theory.
{"title":"Modeling of manufacturing resources towards an interactive Resource Social Network","authors":"Cheng Qian, Yingfeng Zhang","doi":"10.1109/WCMEIM56910.2022.10021355","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021355","url":null,"abstract":"The rapidly changing market has stimulated the emergence of self-organizing mechanisms in intelligent manufacturing systems, where resources are generally capable of making decisions through intercommunications and interoperations to maximize system adaptivity. With the increasing number of exceptional events during manufacturing, those mechanisms might eventually fail to react timely to situations of multiple resource conflicts. In this work, we discussed the social networks consisting of various manufacturing resources and provided the relevant modeling techniques including the Resource Description Framework and the Finite State Machine. The function and behavior models can support the autonomous interactions and collaborations among resources, while the communication hub connected the resources and formed a peer-to-peer network. On this basis, the dynamic features of manufacturing networks including the exception propagation phenomenon can be analyzed. A case was studied to identify the bottleneck resources using the complex network theory. This work has provided an analytical platform to optimize manufacturing resources using complex network and graph theory.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134137023","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021556
Huijuan Wang, Tingting Ren, Yang Xu, Chuandong Xie, Yingqian Ni
The shaking incubator is an incubator which consists of shaker and heating chamber for incubating and shaking sensitive samples. It replaces two devices, reducing both time and space needed. Both the shaking mechanism and temperature chamber are regulated via microprocessors, which control all sensors for motor speed, temperature and time. It is suitable for biochemistry, microbiology and clinical laboratories in which applications require temperature and shaking treatment. This article presents a novel design of calibration method of shaking incubator by studying the essential metrological parameters of the device. The experimental results show that the calibration method presented in this article can establish the metrological traceability system of shaking incubator in China in order to ensure the accuracy and reliability of the device, which is of great importance for the quality control of the device.
{"title":"Studies on Calibration of Shaking Incubator","authors":"Huijuan Wang, Tingting Ren, Yang Xu, Chuandong Xie, Yingqian Ni","doi":"10.1109/WCMEIM56910.2022.10021556","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021556","url":null,"abstract":"The shaking incubator is an incubator which consists of shaker and heating chamber for incubating and shaking sensitive samples. It replaces two devices, reducing both time and space needed. Both the shaking mechanism and temperature chamber are regulated via microprocessors, which control all sensors for motor speed, temperature and time. It is suitable for biochemistry, microbiology and clinical laboratories in which applications require temperature and shaking treatment. This article presents a novel design of calibration method of shaking incubator by studying the essential metrological parameters of the device. The experimental results show that the calibration method presented in this article can establish the metrological traceability system of shaking incubator in China in order to ensure the accuracy and reliability of the device, which is of great importance for the quality control of the device.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132906114","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021406
Yong Zhou, Ligang Qiang, Yong Zhang
The robot described in this paper is used to transport the FAST feed receiver; its lifting part is a spatial multi-bar mechanism; in order to achieve accurate positioning in the transport and avoid deformation caused by large load and thus affecting the normal operation of the mechanism, the whole mechanism needs to have good stiffness. To analyze the stiffness of such complex mechanical mechanism, finite element method can be used for simulation. Based on Abaqus finite element software, the stresses and deformations of the handling robot, especially its lifting system, were analyzed under rated working conditions; the stresses and overall deformations of key parts of the lifting system were obtained. The analysis results showed that the maximum stress and deformation of the lifting system did not exceed the predefined targets. The obtained analysis results provide an important reference for the actual performance of the lifting system.
{"title":"FAST Handling Robot Stiffness Analysis Based on Finite Element Simulation","authors":"Yong Zhou, Ligang Qiang, Yong Zhang","doi":"10.1109/WCMEIM56910.2022.10021406","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021406","url":null,"abstract":"The robot described in this paper is used to transport the FAST feed receiver; its lifting part is a spatial multi-bar mechanism; in order to achieve accurate positioning in the transport and avoid deformation caused by large load and thus affecting the normal operation of the mechanism, the whole mechanism needs to have good stiffness. To analyze the stiffness of such complex mechanical mechanism, finite element method can be used for simulation. Based on Abaqus finite element software, the stresses and deformations of the handling robot, especially its lifting system, were analyzed under rated working conditions; the stresses and overall deformations of key parts of the lifting system were obtained. The analysis results showed that the maximum stress and deformation of the lifting system did not exceed the predefined targets. The obtained analysis results provide an important reference for the actual performance of the lifting system.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132691962","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021508
Xiaotao Wang, Huan Liu, Yuxin Cui
The tethered mobile robot can be used to detect extreme terrain. During the movement, it will inevitably contact or even entangle with obstacles. In this paper, a simultaneous localization and mapping (SLAM) algorithm for tethered robots based on the UFastSLAM framework is proposed, which uses particle filtering and unscented transformation to estimate the pose of the tethered robot and the positions of the anchor points. The simulation results show that the algorithm can effectively estimate the position of anchor points and improve the performance of robot pose estimation simultaneously.
{"title":"Simultaneous localization and mapping for tethered robot based on UFastSLAM","authors":"Xiaotao Wang, Huan Liu, Yuxin Cui","doi":"10.1109/WCMEIM56910.2022.10021508","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021508","url":null,"abstract":"The tethered mobile robot can be used to detect extreme terrain. During the movement, it will inevitably contact or even entangle with obstacles. In this paper, a simultaneous localization and mapping (SLAM) algorithm for tethered robots based on the UFastSLAM framework is proposed, which uses particle filtering and unscented transformation to estimate the pose of the tethered robot and the positions of the anchor points. The simulation results show that the algorithm can effectively estimate the position of anchor points and improve the performance of robot pose estimation simultaneously.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122517601","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021468
Yimo Zong, Jianzhong Huang, Jiahan Bao, Deshang Sun, Y. Cen
To solve the problem of autonomous and precise positioning of the robot arm in the non-structural environment of the demolition robot, binocular vision is used for the measurement of the target point for robot arm positioning, and the real-time tracking and measurement of the end of the robot arm during the positioning process. For demolition robots operating in non-structural environments, their tracking process will have the problems of randomly appearing tracking targets being obscured and a complex background environment. The paper solves this problem by extending the Camshift algorithm to 3D space, using depth information to separate occluders and targets in space. Through experiments, it is proved that this method can effectively solve the problem that the tracking of the end of the robotic arm is lost due to random occlusions during the positioning and tracking of the end of the robotic arm, so as to provide the feedback information of the spatial position of the end of the robotic arm for the autonomous positioning of the robotic arm in a real-time and stable manner.
{"title":"Target Tracking Method for Visual Autonomous Localization of Demolition Robot","authors":"Yimo Zong, Jianzhong Huang, Jiahan Bao, Deshang Sun, Y. Cen","doi":"10.1109/WCMEIM56910.2022.10021468","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021468","url":null,"abstract":"To solve the problem of autonomous and precise positioning of the robot arm in the non-structural environment of the demolition robot, binocular vision is used for the measurement of the target point for robot arm positioning, and the real-time tracking and measurement of the end of the robot arm during the positioning process. For demolition robots operating in non-structural environments, their tracking process will have the problems of randomly appearing tracking targets being obscured and a complex background environment. The paper solves this problem by extending the Camshift algorithm to 3D space, using depth information to separate occluders and targets in space. Through experiments, it is proved that this method can effectively solve the problem that the tracking of the end of the robotic arm is lost due to random occlusions during the positioning and tracking of the end of the robotic arm, so as to provide the feedback information of the spatial position of the end of the robotic arm for the autonomous positioning of the robotic arm in a real-time and stable manner.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116642364","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021348
Wei Mo, Xueming Du, Shun Liu, Sun Jin
Numerical control(NC) rotary table is the core part of the machining center. Due to the existence of multi-source deviation and multi-point assembly of the same part in the assembly of the rotary table, the tolerance chains are more complex, and the assembly result depends on workers to correct during installation at site, resulting in low efficiency and low assembly accuracy. A three-dimensional tolerance modeling method was established based on the Jacobian-Torsor theory. A parallel assembly model was established under multi-point assembly, and the relationship between various deviation sources and assembly deviations is obtained. The contribution of each dimension chain error to the total error is obtained by Monte Carlo analysis, which provides a basis for the designer to allocate tolerance. After several times of iteration procedure, the calculated FR meets the threshold required for product assembly. This method can effectively improve the efficiency of assembly.
{"title":"Tolerance analysis and allocation of precision rotary table based on Jacobian-Torsor statistical model","authors":"Wei Mo, Xueming Du, Shun Liu, Sun Jin","doi":"10.1109/WCMEIM56910.2022.10021348","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021348","url":null,"abstract":"Numerical control(NC) rotary table is the core part of the machining center. Due to the existence of multi-source deviation and multi-point assembly of the same part in the assembly of the rotary table, the tolerance chains are more complex, and the assembly result depends on workers to correct during installation at site, resulting in low efficiency and low assembly accuracy. A three-dimensional tolerance modeling method was established based on the Jacobian-Torsor theory. A parallel assembly model was established under multi-point assembly, and the relationship between various deviation sources and assembly deviations is obtained. The contribution of each dimension chain error to the total error is obtained by Monte Carlo analysis, which provides a basis for the designer to allocate tolerance. After several times of iteration procedure, the calculated FR meets the threshold required for product assembly. This method can effectively improve the efficiency of assembly.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114879602","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021555
Jing Li, Jiangchuan Fan, Nanyan Shen, Hui Qian
With the rapid development of the automobile manufacturing industry, major automobile manufacturers around the world are stepping up digital transformation to achieve high-flexible, efficient and high-quality automobile production to adapt to the increasingly competitive market situation. Robots play an important role in automobile manufacturing. In the process of automobile manufacturing, the performance and quality of the product largely depend on the size accuracy of the parts, so edge information needs to be tested before the product is produced and assembled. At the same time, in the field of path planning, people need to obtain geometric feature information such as the edge of components in advance. However, large components are due to various the accuracy of the error needs to be scanned on the spot, and then processed after obtaining the point cloud. In this paper, a new method for quickly extracting edge contours from large-scale point clouds is studied. In the process of finding edges in two-dimensional images, some optimizations have also been made to make them more suitable for edge extraction of such plane structures. We also demonstrated the application of this method in a bus and compared it with two traditional methods.
{"title":"Research of high-efficiency extraction of edges of large complex components in three-dimensional point clouds","authors":"Jing Li, Jiangchuan Fan, Nanyan Shen, Hui Qian","doi":"10.1109/WCMEIM56910.2022.10021555","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021555","url":null,"abstract":"With the rapid development of the automobile manufacturing industry, major automobile manufacturers around the world are stepping up digital transformation to achieve high-flexible, efficient and high-quality automobile production to adapt to the increasingly competitive market situation. Robots play an important role in automobile manufacturing. In the process of automobile manufacturing, the performance and quality of the product largely depend on the size accuracy of the parts, so edge information needs to be tested before the product is produced and assembled. At the same time, in the field of path planning, people need to obtain geometric feature information such as the edge of components in advance. However, large components are due to various the accuracy of the error needs to be scanned on the spot, and then processed after obtaining the point cloud. In this paper, a new method for quickly extracting edge contours from large-scale point clouds is studied. In the process of finding edges in two-dimensional images, some optimizations have also been made to make them more suitable for edge extraction of such plane structures. We also demonstrated the application of this method in a bus and compared it with two traditional methods.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116557935","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
According to the technical characteristics of the structure of road paving and crawler paver in China, the working principle of crawler paver hydraulic walking system is analyzed, and the walking hydraulic system of paver is designed and studied according to foreign design scheme. On the basis of establishing the actual working conditions of the paver, the hydraulic system components are selected, and the AMESim platform is used for the modeling and simulation of the two schemes. The simulation results show that the flow rate and the speed of the actuator are proportional to the valve port opening size. The required flow of the working loop does not have to do with the external load, but only with the area size of the multiplex valve opening. The motor port pressure and the motor flow is stable at 7.5 L/min under different slope conditions, indicating that this system is reliable and can provide reference for the innovative design of the hydraulic system of the paver walking mechanism.
{"title":"Design and Analysis of Paver Walking Hydraulic System Based on AMESim","authors":"Heng Wang, Ming-Ming Shang, Yi-Cheng Xu, Chao Zhang, Shi-Yi Wang, Shen-Yu Yang","doi":"10.1109/WCMEIM56910.2022.10021452","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021452","url":null,"abstract":"According to the technical characteristics of the structure of road paving and crawler paver in China, the working principle of crawler paver hydraulic walking system is analyzed, and the walking hydraulic system of paver is designed and studied according to foreign design scheme. On the basis of establishing the actual working conditions of the paver, the hydraulic system components are selected, and the AMESim platform is used for the modeling and simulation of the two schemes. The simulation results show that the flow rate and the speed of the actuator are proportional to the valve port opening size. The required flow of the working loop does not have to do with the external load, but only with the area size of the multiplex valve opening. The motor port pressure and the motor flow is stable at 7.5 L/min under different slope conditions, indicating that this system is reliable and can provide reference for the innovative design of the hydraulic system of the paver walking mechanism.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116530669","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021455
Yi Zhang, Yuanpei Gao, Jinyan Li, Dongjie Jiang
The laser sensor information is single, the perceptual feedback dimension is low, and the feedback information is lack in the open outdoor scene and the scene with similar geometric features, which makes it difficult to complete the positioning and navigation work. The visual positioning is easily interfered by light, and the accuracy is limited by the algorithm. Combining the advantages and disadvantages of the two methods, an algorithm combining vision and laser repositioning is proposed. Firstly, vision is based on ORB feature matching to do the preliminary localization, and an artificial bird swarm algorithm is proposed to improve the accuracy of local localization when the prior location is known. The experimental results show that the proposed algorithm shortens the relocation time by one order of magnitude compared with the pure laser localization algorithm, and improves the localization accuracy by one order of magnitude compared with the pure vision algorithm.
{"title":"A mobile robot repositioning method combining vision and laser","authors":"Yi Zhang, Yuanpei Gao, Jinyan Li, Dongjie Jiang","doi":"10.1109/WCMEIM56910.2022.10021455","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021455","url":null,"abstract":"The laser sensor information is single, the perceptual feedback dimension is low, and the feedback information is lack in the open outdoor scene and the scene with similar geometric features, which makes it difficult to complete the positioning and navigation work. The visual positioning is easily interfered by light, and the accuracy is limited by the algorithm. Combining the advantages and disadvantages of the two methods, an algorithm combining vision and laser repositioning is proposed. Firstly, vision is based on ORB feature matching to do the preliminary localization, and an artificial bird swarm algorithm is proposed to improve the accuracy of local localization when the prior location is known. The experimental results show that the proposed algorithm shortens the relocation time by one order of magnitude compared with the pure laser localization algorithm, and improves the localization accuracy by one order of magnitude compared with the pure vision algorithm.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121155167","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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