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Journal of Robotics
Volume 2018, Article ID 8767531, 9 pages
Research Article

Base Detection Research of Drilling Robot System by Using Visual Inspection

1School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, China
2Xinlian College, Henan Normal University, Zhengzhou 451400, China

Correspondence should be addressed to Zhanxi Wang; nc.ude.upwn@gnawxz

Received 8 November 2017; Revised 11 December 2017; Accepted 21 December 2017; Published 31 January 2018

Academic Editor: L. Fortuna

Copyright © 2018 Zhanxi Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper expounds the principle and method of calibration and base detection by using the visual measurement system for detection and correction of installation error between workpiece and the robot drilling system. This includes the use of Cognex Insight 5403 high precision industrial camera, a light source, and the KEYENCE coaxial IL-300 laser displacement sensor. The three-base holes method and two-base holes method are proposed to analyze the transfer relation between the basic coordinate system of the actual hole drilling robot and the basic coordinate system of the theoretical hole drilling robot. The corresponding vision coordinates calibration and the base detection experiments are examined and the data indicate that the result of base detection is close to the correct value.