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Extraction method and extraction device for robot spraying track based on curve three-dimensional reconstruction

A technology of three-dimensional reconstruction and trajectory extraction, which is applied to spray devices, instruments, 3D modeling, etc., can solve problems such as inability to accurately extract workpiece surface information, and difficulty in finding spraying trajectories, so as to improve smoothness and production. Efficiency, the effect of ensuring continuity

Inactive Publication Date: 2015-03-11
HANGZHOU BAODI AUTOMATION EQUIP
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AI Technical Summary

Problems solved by technology

But when the surface shape of the workpiece is very complex, such as when there is a grid-like structure, the line structured light cannot accurately extract the surface information of the workpiece, so it is difficult to find the spraying trajectory

Method used

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  • Extraction method and extraction device for robot spraying track based on curve three-dimensional reconstruction
  • Extraction method and extraction device for robot spraying track based on curve three-dimensional reconstruction
  • Extraction method and extraction device for robot spraying track based on curve three-dimensional reconstruction

Examples

Experimental program
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Embodiment

[0051] Reconstructing a cylindrical intersecting line (as shown in Figure 3) includes the following steps:

[0052] Step S1: Collect multiple target images from different angles, apply Zhang Zhengyou’s method to calibrate the camera’s internal parameter matrix K and distortion coefficient, the target used is a chess and card grid; the coordinate point P(x w ,y w ,z w ,1) is mapped to the image coordinate point p(u,v,1) by the following formula:

[0053] λ u v 1 = K [ R | t ] x w y w z ...

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Abstract

The invention relates to an extraction method and an extraction device for a robot spraying track based on curve three-dimensional reconstruction. The purpose of the invention is that the provided method and the provided device can accurately extract the spraying track and have the characteristics of high work efficiency and high adaptability. The technical scheme is that the extraction method for the robot spraying track based on curve three-dimensional reconstruction comprises the steps of S1, calibrating an intrinsic parameter matrix K and a distortion coefficient of a camera; S2, acquiring an image of a workpiece; S3, processing the image; S4, finding a group of requirement conforming homonymic curves to act target curves; and S5, carrying out three-dimensional reconstruction on the target curves by using a stereoscopic vision algorithm. The extraction device for the robot spraying track based on curve three-dimensional reconstruction comprises a conveying belt, proximity switches and a computer; and the computer performs electric signal interaction with a motion control card which is connected with a stepping motor and the proximity switches, a camera connected with an image acquisition card and an industrial robot.

Description

technical field [0001] The invention relates to a method and a device for extracting a robot spraying track, in particular to a method and a device for extracting a robot spraying track based on three-dimensional reconstruction of a curve. Background technique [0002] At present, spraying operations are widely used in all walks of life in industrial production, such as the spraying of shoe soles, the spraying of automobile lampshades, and the spraying of the surfaces of various complex parts. The traditional spraying work is mostly done manually, because the glue and paint will volatilize toxic gas, which seriously affects the health of the operators. In addition, manual operation is also difficult to ensure the accuracy of spraying. With the continuous occurrence of industrial robot technology, industrial robots are widely used in various spraying fields. It can not only quickly and automatically realize spraying operations, but more importantly, prevent workers from bein...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06T17/00B05B13/04
CPCG06T17/00B05B13/04G06T7/13G06T7/80G06T2207/30108
Inventor 贺磊盈武传宇李秦川崔东苏付建义
Owner HANGZHOU BAODI AUTOMATION EQUIP
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