A combined calibration method of a mobile robotic measurement system for large-sized components
•An accurate calibration method of a mobile robotic measurement system is proposed.•The novel global and local calibration model based on MCCT is proposed.•The calibration method improves the overall measurement accuracy. Product quality control of large-sized components with complex supports requir...
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| Published in: | Measurement : journal of the International Measurement Confederation Vol. 189; p. 110543 |
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| Main Authors: | , , , , , , |
| Format: | Journal Article |
| Language: | English |
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15-02-2022
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| Abstract | •An accurate calibration method of a mobile robotic measurement system is proposed.•The novel global and local calibration model based on MCCT is proposed.•The calibration method improves the overall measurement accuracy.
Product quality control of large-sized components with complex supports requires automatic and accurate 3D shape measurement. For accurate and efficient measurements of key local features (KLFs) on the mounting surface of multiple supports, we propose a flexible measurement method combining a laser tracker, a 3D scanner, and a mobile robot system. As for improving the overall measurement accuracy, we also introduce a calibration method based on a multidimensional combined collaboration target (MCCT) to establish correlation constraints between global and local calibration. Specifically, a global calibration method based on multidimensional geometric constraints provides a global measurement field. Additionally, a local calibration method derived from combination optimization model achieves accurate calibration of extrinsic parameters. We constructed the corresponding mobile robotic measurement system (MRMS) and conducted experiments. The experimental results demonstrate that the maximum and mean calibration errors are reduced from 0.045/0.0261 mm to 0.0231/0.0122 mm within 7 m, which features high accuracy. |
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| AbstractList | Product quality control of large-sized components with complex supports requires automatic and accurate 3D shape measurement. For accurate and efficient measurements of key local features (KLFs) on the mounting surface of multiple supports, we propose a flexible measurement method combining a laser tracker, a 3D scanner, and a mobile robot system. As for improving the overall measurement accuracy, we also introduce a calibration method based on a multidimensional combined collaboration target (MCCT) to establish correlation constraints between global and local calibration. Specifically, a global calibration method based on multidimensional geometric constraints provides a global measurement field. Additionally, a local calibration method derived from combination optimization model achieves accurate calibration of extrinsic parameters. We constructed the corresponding mobile robotic measurement system (MRMS) and conducted experiments. The experimental results demonstrate that the maximum and mean calibration errors are reduced from 0.045/0.0261 mm to 0.0231/0.0122 mm within 7 m, which features high accuracy. •An accurate calibration method of a mobile robotic measurement system is proposed.•The novel global and local calibration model based on MCCT is proposed.•The calibration method improves the overall measurement accuracy. Product quality control of large-sized components with complex supports requires automatic and accurate 3D shape measurement. For accurate and efficient measurements of key local features (KLFs) on the mounting surface of multiple supports, we propose a flexible measurement method combining a laser tracker, a 3D scanner, and a mobile robot system. As for improving the overall measurement accuracy, we also introduce a calibration method based on a multidimensional combined collaboration target (MCCT) to establish correlation constraints between global and local calibration. Specifically, a global calibration method based on multidimensional geometric constraints provides a global measurement field. Additionally, a local calibration method derived from combination optimization model achieves accurate calibration of extrinsic parameters. We constructed the corresponding mobile robotic measurement system (MRMS) and conducted experiments. The experimental results demonstrate that the maximum and mean calibration errors are reduced from 0.045/0.0261 mm to 0.0231/0.0122 mm within 7 m, which features high accuracy. |
| ArticleNumber | 110543 |
| Author | Liu, Wei Yue, Yi Yu, Binchao Cheng, Xikang Wang, Yuxin Zhang, Jiabo Zhou, Zhilong |
| Author_xml | – sequence: 1 givenname: Zhilong surname: Zhou fullname: Zhou, Zhilong organization: Key Laboratory for Precision and Non-traditional Machining Technology of the Ministry of Education, School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China – sequence: 2 givenname: Wei surname: Liu fullname: Liu, Wei email: lw2007@dlut.edu.cn organization: Key Laboratory for Precision and Non-traditional Machining Technology of the Ministry of Education, School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China – sequence: 3 givenname: Yuxin surname: Wang fullname: Wang, Yuxin organization: Key Laboratory for Precision and Non-traditional Machining Technology of the Ministry of Education, School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China – sequence: 4 givenname: Binchao surname: Yu fullname: Yu, Binchao organization: Key Laboratory for Precision and Non-traditional Machining Technology of the Ministry of Education, School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China – sequence: 5 givenname: Xikang surname: Cheng fullname: Cheng, Xikang organization: Key Laboratory for Precision and Non-traditional Machining Technology of the Ministry of Education, School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China – sequence: 6 givenname: Yi surname: Yue fullname: Yue, Yi organization: Beijing Spacecrafts, China Academy of Space Technology, Beijing 100094, China – sequence: 7 givenname: Jiabo surname: Zhang fullname: Zhang, Jiabo organization: Beijing Spacecrafts, China Academy of Space Technology, Beijing 100094, China |
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| Cites_doi | 10.1117/1.602438 10.1117/12.807057 10.1016/j.measurement.2017.03.037 10.1016/j.rcim.2020.102010 10.1111/j.1751-5823.2011.00159_24.x 10.1016/j.cja.2020.07.002 10.1117/1.602356 10.1016/j.ijleo.2010.02.014 10.1016/j.ijleo.2021.166396 10.1117/1.OE.56.5.054103 10.1016/j.rcim.2012.02.010 10.1016/j.measurement.2020.108081 10.1088/1748-0221/14/01/P01006 10.2514/6.2020-3224 10.1109/TIM.2020.2978956 10.1016/j.measurement.2014.04.009 10.3390/s150614328 10.1016/j.ijleo.2019.02.069 10.1016/j.cja.2017.04.016 10.1504/IJMIC.2019.096816 10.1137/0914086 10.1007/s00170-020-05524-2 10.3390/s17122886 10.1016/j.optlaseng.2016.01.011 |
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| Keywords | Extrinsic parameters calibration Combined calibration Global calibration Large-sized components Mobile robotic measurement system Geometric constraints |
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| Snippet | •An accurate calibration method of a mobile robotic measurement system is proposed.•The novel global and local calibration model based on MCCT is proposed.•The... Product quality control of large-sized components with complex supports requires automatic and accurate 3D shape measurement. For accurate and efficient... |
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| SubjectTerms | Accuracy Calibration Combined calibration Extrinsic parameters calibration Geometric constraints Global calibration Large-sized components Measurement Measurement methods Mobile robotic measurement system Optimization Optimization models Quality control Robots |
| Title | A combined calibration method of a mobile robotic measurement system for large-sized components |
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