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Mobile robot vision system using continuous laser scanning for industrial application

Lars Lindner (Department of Optoelectronic and Measurement, Engineering Institute, Autonomous University of Baja California, Mexicali, Mexico)
Oleg Sergiyenko (Department of Optoelectronic and Measurement, Engineering Institute, Autonomous University of Baja California, Mexicali, Mexico)
Julio C. Rodríguez-Quiñonez (Department of Electronic Engineering, Engineering Faculty, Autonomous University of Baja California, Mexicali, Mexico)
Moises Rivas-Lopez (Department of Optoelectronic and Measurement, Engineering Faculty, Autonomous University of Baja California, Mexicali, Mexico)
Daniel Hernandez-Balbuena (Engineering Faculty, Autonomous University of Baja California, Mexicali, Mexico)
Wendy Flores-Fuentes (Engineering Faculty, Autonomous University of Baja California, Mexicali, Mexico)
Fabian Natanael Murrieta-Rico (Ensenada Center for Scientific Research and Higher Education, Ensenada, Mexico)
Vera Tyrsa (Kharkiv Petro Vasylenko National Technical University of Agriculture, Kharkiv, Ukraine)

Industrial Robot

ISSN: 0143-991x

Article publication date: 20 June 2016

Abstract

Purpose

The purpose of this paper is the presentation and research of a novel robot vision system, which uses laser dynamic triangulation, to determine three-dimensional (3D) coordinates of an observed object. The previously used physical operation principle of discontinuous scanning method is substituted by continuous method. Thereby applications become possible that were previously limited by this discretization.

Design/methodology/approach

The previously used prototype No. 2, which uses stepping motors to realize a discontinuous laser scan, was substituted by the new developed prototype No. 3, which contains servomotors, to achieve a continuous laser scan. The new prototype possesses only half the width and turns out to be significantly smaller and therefore lighter than the old one. Furthermore, no transmissions are used, which reduce the systematic error of laser positioning and increase the system reliability.

Findings

By using a continuous laser scan method instead of discontinuous laser scan method, dead zones in the laser scanner field can be eliminated. Thereby, also by changing the physical operation principle, the implementation of applications is allowed, which previously was limited by the fixed step size or by the object distance under observation. By using servomotors instead of stepping motors, also a significant reduced positioning time can be accomplished maintaining the relative positioning error less than 1 per cent.

Originality/value

The originality is based on the substitution of the physical operation principle of discontinuous by continuous laser scan. The previously used stepping motors discretized the laser scanner field and thereby produced dead zones, where 3D coordinates cannot be detected. These stepping motors were substituted by servomotors to revoke these disadvantages and provide a continuous laser scan, where dead zones in the field of view get eliminated and the step response of the laser scanner accelerated.

Keywords

Citation

Lindner, L., Sergiyenko, O., Rodríguez-Quiñonez, J.C., Rivas-Lopez, M., Hernandez-Balbuena, D., Flores-Fuentes, W., Natanael Murrieta-Rico, F. and Tyrsa, V. (2016), "Mobile robot vision system using continuous laser scanning for industrial application", Industrial Robot, Vol. 43 No. 4, pp. 360-369. https://doi.org/10.1108/IR-01-2016-0048

Publisher

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Emerald Group Publishing Limited

Copyright © 2016, Emerald Group Publishing Limited