Device and method for measuring poses of embedded type spraying gun in real time

Abstract

The invention discloses a device and a method for measuring poses of an embedded type spraying gun in real time. A laser ray outgoing end of a spotted state laser is arranged in the device and is placed opposite to the surface of a measured spray object; a lens of an area array CCD camera is placed opposite to the surface of the measured spray object; and an image processing card is electrically connected with the area array CCD camera. The method comprises the following steps of: acquiring a relation equation of a two-dimensional position coordinate of each laser spot in an image and a three-dimensional coordination of each laser point under a coordinate system of the area array CCD camera by using a calibration method; calculating a two-dimensional coordinate of each laser spot center in the image, and calculating the three-dimensional coordinates of an X-axis, a Y-axis and a Z-axis of the laser spot under the coordinate system of the area array CCD camera; and finally, according tothe three-dimensional coordinates of six laser spots, fitting out a plane equation of the plane on which the six laser spots are by using a least square method, and resolving the relative poses of a sprayed plane and the area array CCD camera according to the fitted plane equation, thereby finishing the measurement of the poses of the spraying gun.

Description

technical field [0001] The invention relates to the fields of visual measurement and embedded image processing, in particular to a device and method for real-time measurement of the pose of a spray gun of a painting robot. Background technique [0002] Since the shape of the surface to be sprayed usually has strong irregularities, in order to ensure the quality of spraying, it is necessary to ensure that the plane between the spray gun and the area to be sprayed is kept at an appropriate distance and that the two are perpendicular to each other. In order to achieve the above goals, it is necessary to detect the attitude and distance of the spray gun relative to the surface of the area to be sprayed in real time, and then perform feedback control on the mechanical arm so that the spray gun is in the ideal spraying attitude and spraying position. [0003] In order to detect the relative position and attitude between the spray gun and the area to be sprayed, it is necessary to ...

AI Technical Summary

Problems solved by technology

However, most of the robot vision systems currently used to measure poses are based on PCs and stereo vision, and the system integration is poor; while stereo vision requires two or more cameras, the system is relatively large; at the same time, stereo vision processing calculations Large amount, only rely on PC software, resulting in slow processing speed and poor real-time performance of this type of robot vision system

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