Base Detection Research of Drilling Robot System by Using Visual Inspection

<table class="fixed-width table-group" id="tab9"><tr><td><table class="table"><colgroup><col style="width:6.24em"/><col style="width:14.11em"/><col style="width:15.00em"/></colgroup><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left">Actual value</td><td class="align_center">Coordinate of industrial camera</td><td class="align_center">Value of laser displacement sensor</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left"><span style="width: 14.4141ptpx;"><svg height="8.68572pt" id="M178" style="vertical-align:-0.0498209pt" version="1.1" viewbox="-0.0498162 -8.6359 14.4141 8.68572" width="14.4141pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M600 480C600 590 528 650 384 650H143L137 622C222 614 225 607 210 531L130 127C113 41 106 36 23 28L17 0H294L300 28C204 36 195 42 212 127L243 284L314 263C327 263 339 263 352 264C465 271 600 337 600 480ZM508 481C508 351 402 304 329 304C289 304 265 311 250 317L295 559C302 594 310 606 323 611C335 616 350 619 367 619C455 619 508 573 508 481Z" id="g113-81"></path></g><g transform="matrix(.013,0,0,-0.013,8.026,0)"><path d="M384 0V27C293 34 287 42 287 114V635C232 613 172 594 109 583V559L157 557C201 555 205 550 205 499V114C205 42 199 34 109 27V0H384Z" id="g113-50"></path></g></svg></span></td><td class="align_center">(620.75, 396.75)</td><td class="align_center">−39.1</td></tr><tr><td class="align_left"><span style="width: 14.4141ptpx;"><svg height="8.68572pt" id="M179" style="vertical-align:-0.0498209pt" version="1.1" viewbox="-0.0498162 -8.6359 14.4141 8.68572" width="14.4141pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M600 480C600 590 528 650 384 650H143L137 622C222 614 225 607 210 531L130 127C113 41 106 36 23 28L17 0H294L300 28C204 36 195 42 212 127L243 284L314 263C327 263 339 263 352 264C465 271 600 337 600 480ZM508 481C508 351 402 304 329 304C289 304 265 311 250 317L295 559C302 594 310 606 323 611C335 616 350 619 367 619C455 619 508 573 508 481Z" id="g113-81"></path></g><g transform="matrix(.013,0,0,-0.013,8.026,0)"><path d="M412 140C382 77 369 73 315 73H129L270 222C362 320 402 379 402 466C402 571 322 635 234 635C177 635 130 609 99 576L42 495L64 475C90 514 133 568 201 568C274 568 318 519 318 435C318 349 255 267 193 193C144 135 87 78 32 23V0H405C417 45 427 89 440 131L412 140Z" id="g113-51"></path></g></svg></span></td><td class="align_center">(637.75, 396.5)</td><td class="align_center">−39.2</td></tr><tr><td class="align_left"><span style="width: 14.4141ptpx;"><svg height="8.8423pt" id="M180" style="vertical-align:-0.2064009pt" version="1.1" viewbox="-0.0498162 -8.6359 14.4141 8.8423" width="14.4141pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M600 480C600 590 528 650 384 650H143L137 622C222 614 225 607 210 531L130 127C113 41 106 36 23 28L17 0H294L300 28C204 36 195 42 212 127L243 284L314 263C327 263 339 263 352 264C465 271 600 337 600 480ZM508 481C508 351 402 304 329 304C289 304 265 311 250 317L295 559C302 594 310 606 323 611C335 616 350 619 367 619C455 619 508 573 508 481Z" id="g113-81"></path></g><g transform="matrix(.013,0,0,-0.013,8.026,0)"><path d="M285 378C315 398 338 416 353 432C373 451 384 474 384 503C384 579 325 635 236 635H235C182 635 136 610 108 579L65 516L85 496C110 533 150 575 205 575C258 575 300 543 300 481C300 407 232 369 141 339L147 310C163 315 188 321 211 321C268 321 338 284 338 192C338 94 288 40 217 40C160 40 119 68 93 91C85 98 77 97 69 91C60 84 47 71 46 58C44 46 48 35 62 22C75 10 116 -12 162 -12C234 -12 424 62 424 224C424 297 373 359 285 376V378Z" id="g113-52"></path></g></svg></span></td><td class="align_center">(648.25, 406.75)</td><td class="align_center">−39.0</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Values after changing coordinate system.</div>

Journal of Robotics

tab9

Table 9

Table 9: Base Detection Research of Drilling Robot System by Using Visual Inspection 