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
CN104408408AInactive Publication Date: 2015-03-11HANGZHOU BAODI AUTOMATION EQUIP
2 Cites 29 Cited by

Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
HANGZHOU BAODI AUTOMATION EQUIP
Publication Date
2015-03-11
Estimated Expiration
Not applicable · inactive patent

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

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.
Need to check novelty before this filing date? Find Prior Art

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More