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Chinese Journal of Lasers, Volume. 46, Issue 2, 0204002(2019)

Robot Bin-Picking Based on Micro-Electro Mechnical System Structure Light Projector

Huiming Huang1、*, Guihua Liu1、*, and Kangrong Duan2
Author Affiliations
  • 1 School of Information Engineering, Southwest University of Science and Technology, Mianyang, Sichuan 621000, China
  • 2 School of Electronic Information, Sichuan University, Chengdu, Sichuan 610065, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (24)
    Equations (0)
    References (0)
    Cited By (2)
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    Paper Information
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    Figures & Tables(24)
    Schematic of laser module

    Fig. 1. Schematic of laser module

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    Laser module size parameters

    Fig. 2. Laser module size parameters

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    MEMS scanning mode

    Fig. 3. MEMS scanning mode

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    Hardware circuit

    Fig. 4. Hardware circuit

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    Projection grating type. (a) Square wave; (b) sine wave

    Fig. 5. Projection grating type. (a) Square wave; (b) sine wave

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    PPF description

    Fig. 6. PPF description

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    Schematic of transform relation

    Fig. 7. Schematic of transform relation

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    Model coordinate system

    Fig. 8. Model coordinate system

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    Relations between coordinate systems

    Fig. 9. Relations between coordinate systems

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    Fast structure light binocular system

    Fig. 10. Fast structure light binocular system

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    Flow diagram of experiment

    Fig. 11. Flow diagram of experiment

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    Basic model

    Fig. 12. Basic model

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    Grating projection results

    Fig. 13. Grating projection results

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    Principal value maps of phase and phase unwrapping graph. (a) Phase principal value of 1 Hz; (b) phase principal value of 4 Hz; (c) phase principal value of 16 Hz; (d) phase principal value of 64 Hz; (e) phase principal value of 128 Hz; (f) phase unwrapping graph

    Fig. 14. Principal value maps of phase and phase unwrapping graph. (a) Phase principal value of 1 Hz; (b) phase principal value of 4 Hz; (c) phase principal value of 16 Hz; (d) phase principal value of 64 Hz; (e) phase principal value of 128 Hz; (f) phase unwrapping graph

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    3D reconstruction results

    Fig. 15. 3D reconstruction results

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    Correctly matched objects

    Fig. 16. Correctly matched objects

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    Standard ball

    Fig. 17. Standard ball

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    Error curves

    Fig. 18. Error curves

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    Processing time curves

    Fig. 19. Processing time curves

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    • Table 1. MEMS parameters

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      Table 1. MEMS parameters

      ParameterMinimumTypical valueMaximum
      Wave length /nm820830840
      Line width /mm-0.75-
      Power /mW305080
      Degree /(°)606570
      Fringe number22n128
      Frequency /Hz-920-

    • Table 2. Laser module parameters

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      Table 2. Laser module parameters

      ParameterTest rating
      MinimumMaximum
      Output power /(pF·mW-1)3080
      Input current /(lm·mA-1)70300
      Voltage /V-3
      Dimensions /(mm×mm×mm)12.6×22.1×12.6

    • Table 3. System parameters

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      Table 3. System parameters

      Structure light projectorCamera and lens
      Fringe natureSine waveImage resolution /(pixel×pixel)1280×1024
      Fringe number21Focal length /mm12
      Processingtime /ms20Frame rate /Hz60

    • Table 4. Locate information

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      Table 4. Locate information

      Number3D coordinates PNormal n
      1(-44.0847,-17.9729,-469.457)(-0.1524,0.1001,0.9832)
      2(-104.776,-8.97805,477.848)(-0.115,0.932,0.343)
      3(42.1502,30.0269,-490.498)(-0.639,0.563,0.523)
      4(1.04046,76.2637,-520.018)(0.374,-0.015,0.927)
      5(-46.613,90.6838,-531.539)(0.400,0.111,0.909)

    • Table 5. Comparison of accuracy and processing time

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      Table 5. Comparison of accuracy and processing time

      NumberAccuracy (D=60.002 mm) /mmProcessing time /s
      MEMSKinectDLPMEMSKinectDLP
      160.13261.9860.0220.420.332.54
      260.11462.10660.0410.390.332.31
      360.14362.4360.0180.480.332.63
      460.98661.8760.0350.440.332.50
      560.13262.7360.0290.400.332.47
      Mean0.12742.2120.0270.430.332.49
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    Huiming Huang, Guihua Liu, Kangrong Duan. Robot Bin-Picking Based on Micro-Electro Mechnical System Structure Light Projector[J]. Chinese Journal of Lasers, 2019, 46(2): 0204002

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    Paper Information

    Category: measurement and metrology

    Received: Aug. 23, 2018

    Accepted: Oct. 24, 2018

    Published Online: May. 9, 2019

    The Author Email:

    DOI:10.3788/CJL201946.0204002

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology