相位测量偏折术与机器人主动触觉检测相融合的透明平面玻璃三维测量

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关键词：相位测量偏折术;视触融合;玻璃检测；主动触觉检测中图分类号：V248.1；TH744 文献标识码：Adoi：10.37188/OPE.20253315.2319 CSTR：32169.14.OPE.20253315.2319

Three-dimensional measurement of transparent planar glass based on fusion of phase measuring deflectometry and robotic active tactile sensing

HU Huiran，SONG Aiguo

（School of Instrument Science and Engineering，Southeast University，Nanjing 2lOO96，China） * Corresponding author， E-mail： a. g. song@seu. edu. cn

Abstract： Traditional vision-based measurement techniques perform poorly on transparent glass surfaces， while tactile sensing is constrained by low sampling eficiency and limited resolution，impeding high-precision surface reconstruction.To address these limitations，a vision-tactile fusion measurement method is presented， integrating phase-measuring deflectometry with active tactile sensing. The vision subsystem supplies relative surface phase-gradient information， whereas the tactile subsystem provides absolute positional measurements；this combination resolves the gradient-height ambiguity and suppresses ghost-fringe artefacts produced by light deflection at the lower glass surface.An experimental setup comprising a Realsense D435 depth camera and a UR1O robotic arm was implemented and evaluated on planar and nearplanar glass specimens. Results demonstrate that the proposed method enables accurate perception and reconstruction of both planar and near-planar transparent glass surfaces.Relative to a depth-camera approach augmented by a developer agent， the proposed method reduced RMS error by 80.59% ）for concave surface reconstruction and by （ 96.33% ） for convex surface reconstruction. The approach exploits the robot's inherent vision-tactile capabilities to achieve three-dimensional measurement and localizationof transparent glass，offering a practical solution for robotic perception and reconstruction of transparent surfaces.

Key words： phase measuring deflectometry； vision-tactile fusion； glassurface reconstruction； active tac-tile detection

1引言

机器人的环境感知能力对于成功执行任务至关重要。（剩余15929字）