Collaborative Measurement System of Dual Mobile Robots That Integrates Visual Tracking and 3D Measurement

Abstract

The manufacturing accuracy of large-scale complex components determines the performance and quality of aircraft, ships, high-speed rail, and other equipment. High-precision 3D measurement plays a crucial role in ensuring manufacturing accuracy. At present, the existing measurement methods rely heavily on manual labor, which cannot satisfy the requirements of industry quality and efficiency. This paper introduces an integrated mobile robotic measurement system for the accurate and automatic 3D measurement of large-scale components with complex curved surfaces. The system consists of the mobile optical scanning measurement device, visual tracking device, and software platform, which can realize comprehensive and accurate data acquisition and stitching of large-scale complex components. The combination of visual tracking and 3D measurement based on the coordinated motion of the dual robot achieved the automatic data acquisition of large-scale complex components without sticking coded targets. Additionally, this paper also introduces a DeepMerge algorithm that combines local and global features of the point cloud, which effectively corrects the initial stitching error of the visual tracking system. The validity of the measurement system and method was shown by the measurement and stitching experiments on the surface of the vehicle nose, ensuring the accurate measurement of the robot’s wide range of motion.

Keywords

• large-scale measurement
• dual mobile robot
• machine vision
• collaborative measurement