Research on Target Localization Method of CRTS-III Slab Ballastless Track Plate Based on Machine Vision
In the construction of high-speed railway infrastructure, a CRTS-III slab ballastless track plate has been widely used. Anchor sealing is an essential step in the production of track plates. We design a novel automated platform based on industrial robots with vision guidance to improve the automatio...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-12-01
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| Series: | Electronics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2079-9292/10/23/3033 |
| _version_ | 1797507933243703296 |
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| author | Xinjun Liu Wenjiang Wu Liaomo Zheng Shiyu Wang Qiang Zhang Qi Wang |
| author_facet | Xinjun Liu Wenjiang Wu Liaomo Zheng Shiyu Wang Qiang Zhang Qi Wang |
| author_sort | Xinjun Liu |
| collection | DOAJ |
| description | In the construction of high-speed railway infrastructure, a CRTS-III slab ballastless track plate has been widely used. Anchor sealing is an essential step in the production of track plates. We design a novel automated platform based on industrial robots with vision guidance to improve the automation of a predominantly human-powered anchor sealing station. This paper proposes a precise and efficient target localization method for large and high-resolution images to obtain accurate target position information. To accurately update the robot’s work path and reduce idle waiting time, this paper proposes a low-cost and easily configurable visual localization system based on dual monocular cameras, which realizes the acquisition of track plate position information and the correction of position deviation in the robot coordinate system. We evaluate the repeatable positioning accuracy and the temporal performance of the visual localization system in a real production environment. The results show that the repeatable positioning accuracy of this localization system in the robot coordinate system can reach ±0.150 mm in the x- and y-directions and ±0.120° in the rotation angle. Moreover, this system completes two 18-megapixel image acquisitions, and the whole process takes around 570 ms to meet real production needs. |
| first_indexed | 2024-03-10T04:55:27Z |
| format | Article |
| id | doaj.art-9b57db266915474394df488c228ef166 |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-10T04:55:27Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-9b57db266915474394df488c228ef1662023-11-23T02:18:01ZengMDPI AGElectronics2079-92922021-12-011023303310.3390/electronics10233033Research on Target Localization Method of CRTS-III Slab Ballastless Track Plate Based on Machine VisionXinjun Liu0Wenjiang Wu1Liaomo Zheng2Shiyu Wang3Qiang Zhang4Qi Wang5University of Chinese Academy of Sciences, Beijing 100049, ChinaShenyang Institute of Computing Technology, Chinese Academy of Sciences, Shenyang 110168, ChinaShenyang Institute of Computing Technology, Chinese Academy of Sciences, Shenyang 110168, ChinaShenyang Institute of Computing Technology, Chinese Academy of Sciences, Shenyang 110168, ChinaShenyang Institute of Computing Technology, Chinese Academy of Sciences, Shenyang 110168, ChinaUniversity of Chinese Academy of Sciences, Beijing 100049, ChinaIn the construction of high-speed railway infrastructure, a CRTS-III slab ballastless track plate has been widely used. Anchor sealing is an essential step in the production of track plates. We design a novel automated platform based on industrial robots with vision guidance to improve the automation of a predominantly human-powered anchor sealing station. This paper proposes a precise and efficient target localization method for large and high-resolution images to obtain accurate target position information. To accurately update the robot’s work path and reduce idle waiting time, this paper proposes a low-cost and easily configurable visual localization system based on dual monocular cameras, which realizes the acquisition of track plate position information and the correction of position deviation in the robot coordinate system. We evaluate the repeatable positioning accuracy and the temporal performance of the visual localization system in a real production environment. The results show that the repeatable positioning accuracy of this localization system in the robot coordinate system can reach ±0.150 mm in the x- and y-directions and ±0.120° in the rotation angle. Moreover, this system completes two 18-megapixel image acquisitions, and the whole process takes around 570 ms to meet real production needs.https://www.mdpi.com/2079-9292/10/23/3033target localizationCRTS-IIIanchor sealingvision guidancehigh-resolution images |
| spellingShingle | Xinjun Liu Wenjiang Wu Liaomo Zheng Shiyu Wang Qiang Zhang Qi Wang Research on Target Localization Method of CRTS-III Slab Ballastless Track Plate Based on Machine Vision Electronics target localization CRTS-III anchor sealing vision guidance high-resolution images |
| title | Research on Target Localization Method of CRTS-III Slab Ballastless Track Plate Based on Machine Vision |
| title_full | Research on Target Localization Method of CRTS-III Slab Ballastless Track Plate Based on Machine Vision |
| title_fullStr | Research on Target Localization Method of CRTS-III Slab Ballastless Track Plate Based on Machine Vision |
| title_full_unstemmed | Research on Target Localization Method of CRTS-III Slab Ballastless Track Plate Based on Machine Vision |
| title_short | Research on Target Localization Method of CRTS-III Slab Ballastless Track Plate Based on Machine Vision |
| title_sort | research on target localization method of crts iii slab ballastless track plate based on machine vision |
| topic | target localization CRTS-III anchor sealing vision guidance high-resolution images |
| url | https://www.mdpi.com/2079-9292/10/23/3033 |
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