Virtual disassembly of products based on geometric models

Pomares, Jorge; Méndez, Santiago Timoteo Puente; Torres, Fernando; Candelas, Francisco A.; Gil, Pablo

doi:10.1016/j.compind.2004.03.001

Cited by 59 publications

(25 citation statements)

References 35 publications

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“…Using computer vision techniques not only permits to determine which element is the product and which are theirs components to be disassembled, but also permits to improve the design and construction of the graphs [20] or schemes which model the sequence [21,22] of tasks during the disassembly. In this work, an approach based on region segmentation combining the RGB-HSV colour spaces and an edges detector is presented to detect overlapping and occlusion zones in disassembly tasks.…”

Section: Discussionmentioning

confidence: 99%

Detection of partial occlusions of assembled components to simplify the disassembly tasks

Gil

Torres

Ortiz

et al. 2005

Int J Adv Manuf Technol

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An automatic disassembly cell requires of a computer vision system for recognition and localization of the products and each of theirs components. The detection of occlusions adds more information to the knowledge base to identify components and products, and generate a trustworthy and precise relational model (generic graph of hierarchic relations among the different components that make up the product). In this paper, a method to detect partial occlusions in assembled components is presented. This method is based on the fusion of regions and edges information, and it offers a certain degree of simplification for the recognition and modelled of the disassembly tasks, of the set of components which compose the product. The proposed approach to detect regions is a hybrid approach between RGB and HSV spaces. The bi-dimensional histogram V/S is employed for the selection of the appropriate thresholds which serve as an aid to diminish the influence of the highlights and shadows in images. The goal of this paper is to present an approach for the detection of occlusions in assembled components from a combination of HSV and RGB spaces, a bi-dimensional histogram and an edge detector.

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Section: Discussionmentioning

confidence: 99%

Detection of partial occlusions of assembled components to simplify the disassembly tasks

Gil

Torres

Ortiz

et al. 2005

Int J Adv Manuf Technol

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“…Depending on the goals, disassembly has two main types [28]. One is "destructive disassembly", in which a part is removed from a previously assembled product by destroying or damaging some other parts of the product.…”

Section: Principles For Disassemblymentioning

confidence: 99%

Illustrating the disassembly of 3D models

Guo

Yan

et al. 2013

Computers & Graphics

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We present a framework for the automatic disassembly of 3D man-made models and the illustration of the disassembly process. Given an assembled 3D model, we first analyze the individual parts using sharp edge loops and extract the contact faces between each pair of neighboring parts. The contact faces are then used to compute the possible moving directions of each part. We then present a simple algorithm for clustering the sets of the individual parts into meaningful sub-assemblies, which can be used for a hierarchical decomposition. We take the stability of sub-assemblies into account during the decomposition process by considering the upright orientation of the input models. Our framework also provides a user-friendly interface to enable the superimposition of the constraints for the decomposition. Finally, we visualize the disassembly process by generating an animated sequence. The experiments demonstrate that our framework works well for a variety of complex models.

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“…s d is the desired trajectory in the image. Therefore s d (t), is the value of the desired trajectory at time t. γ(t) will be considered as the desired robot 3-D trajectory that will be tracked (i.e., the desired 3-D trajectory of the camera at the end-effector) For this study, we have employed planners already described in our previous studies [14].…”

Section: Visual-force Control To Track Surfacesmentioning

confidence: 99%

Visual - Force Control and Structured Light Fusion to Improve Recognition of Discontinuities in Surfaces

Pomares

Gil

García

et al. 2006

2006 IEEE Conference on Emerging Technologies and Factory Automation

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-This paper describes a method to detect changes in given surfaces tracked by the robot end-effector. To do so, first an approach to combine visual and force information is described. By filtering the interaction forces, a parameter which provides the probability of a change in the tracking surface is obtained. In order to obtain a more accurate determination of the change in the surface, information from a laser located at the robot end-effector is also employed. Therefore, a robust method for detecting surface discontinuities which employs force and visual information jointly with structured light is presented.

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Virtual disassembly of products based on geometric models

Cited by 59 publications

References 35 publications

Detection of partial occlusions of assembled components to simplify the disassembly tasks

Detection of partial occlusions of assembled components to simplify the disassembly tasks

Illustrating the disassembly of 3D models

Visual - Force Control and Structured Light Fusion to Improve Recognition of Discontinuities in Surfaces

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