System of technical vision based on active laser triangulation method

摘要

The number of failures, the percentage of faulty electric locomotives, and the number of unplanned repairs remain high at the enterprises for repair of traction rolling stock of the network of the main-line Russian railways. It was found that the main reasons for this situation are the unsatisfactory quality of current repairs and maintenance, the insufficient level of mechanization and automation of labor-intensive repair processes. The paper considers an existing positive example of the use of robotic equipment in assembly production for the repair of traction rolling stock. The analysis and classification of sensor control devices for industrial robots is performed. A method for controlling the driving devices of the repair equipment is proposed by obtaining a spatial-geometric image of the object’s surface before the beginning of technological processing by the method of active laser triangulation scanning. The principle of the action of three-dimensional scanning is described; a number of equipment with its technical characteristics and software used during the research in the laboratory of the university is listed. The result of the experiment of the proposed method on the model of the truck frame of the electric locomotive is presented. The metrological characteristics of the measurement results are calculated, allowing comparing and assessing the accuracy of the model obtained and the mock-up of the rolling stock truck. Based on the results of these calculations, it can be said with certainty that all errors and deviations of the results from true values lie within the limits of the norm and this technology can be used to design a vision system for robotic equipment.