每天一分钟,带你读遍机器人顶级会议文章 标题:Robot-Assisted Composite Manufacturing Using Deep Learning and Multi-View Computer Vision 作者:A. Djavadifar, J. B. Graham-Knight, M. Körber and H. Najjaran 来源:2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Macau, China, November 4-8, 2019 编译:董文正 审核:黄思宇,孙钦 这是泡泡一分钟推送的第 607 篇文章,欢迎个人转发朋友圈;其他机构或自媒体如需转载,后台留言申请授权 摘要 A. 炭纤维增强塑料(CFRP)悬垂 (1)当悬垂易弯曲的织物时,在其曲率上会出现复杂的剪切力并产生褶皱 (2)褶皱大大降低产品的质量 (3)手动处理很耗时,同时可能会导致制造延期 因此,在制造过程中建立自动化的识别褶皱方法,显得十分有意义。 B. 自动检测需求 检测预期为: (1)与面料的形状,方向和大小无关 (2)与颜色和照明等特征无光 (3)可在各种位置,角度等条件下实现 图1 悬垂过程中的织物,夹具和线性褶皱 图2 校正前(左)和校正后(右)的织物同时遮罩 Abstract A. Carbon-fiber Reinforced Plastic (CFRP) Draping · Complicated shear stresses occur when draping a flex-ible fabric on a curvature, causing wrinkles. · Wrinkling greatly reduces the product quality. · Manual handling is time consuming, and can lead to manufacturing delays This makes it imperative to establish an auto-mated method to identify wrinkles throughout the manufacturing process. B. Automated Detection Requirements Detection is expected to be: · Independent of the fabric’s shape, orientation, and size. · Independent of features such as color and lighting. · Achievable in a wide variety of positions, angles, etc. |
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