Machine Intelligence Research Applied to Industrial Automation

摘要

Research into advanced automation is discussed. Five principal topics are covered: (1) two-dimensional curve segmentation; (2) projector-camera range sensing of three-dimensional data; (3) a system for recognition and location of three-dimensional parts; (4) modular programmable assembly; and (5) enhancements to robot programming systems (RPS). An algorithm for segmenting a two-dimensional curve into straight line segments and circular arcs is presented. The algorithm is applied to silhouette boundaries of industrial parts and to images of their interactions with the plane of light of a projector-camera range sensor. Procedures for calibrating the camera and the light plane are provided and a conceptual system for recognizing and locating three-dimensional parts in range data is proposed. Appendixes contain an example of the use of the RPS system and a description of facilities maintained by means of a robot programming language.