Workpiece position-pose on-line detection method based on cooperation of Kinect and three-dimensional lasers

Abstract

The invention discloses a workpiece position-pose on-line detection method based on the cooperation of a Kinect sensor and a three-dimensional laser distance measuring system, and is applied in the technical field of sensing workpiece positions and poses through human-machine cooperation and interaction systems and industrial robots. According to the method, cooperative work between the Kinect sensor and the three-dimensional laser distance measuring system is adopted to collect data; through three parts of preprocessing on obtained point clouds, associated calibration between the Kinect sensor and the three-dimensional laser distance measuring system and the on-line detection of the Kinect sensor and the three-dimensional laser distance measuring system, the problems are solved that the point clouds of the Kinect sensor are sparse, the data accuracy is insufficient and the accuracy and scanning speed of the three-dimensional laser distance measuring system have contradictory relations; the industrial robots can more efficiently and accurately acquire the accurate size information and position-pose information of workpieces, and the accuracy and working efficiency are improved. The method can be applied in the artificial intelligence fields of the understanding of the industrial robots on the working environment and the like.

Description

technical field [0001] The invention belongs to the technical field of man-machine cooperative interaction system and industrial robot's perception of the position and posture of working objects, relates to the joint calibration and cooperative detection between Kinect sensor and three-dimensional laser ranging system, and is mainly applied to Kinect sensor and three-dimensional laser ranging system Collaborative online detection of the position and attitude of the work object. Background technique [0002] Industrial robots are important automation equipment for modern manufacturing that integrates multi-disciplinary advanced technologies such as machinery, electronics, and control. The technology has high added value and has a wide range of applications. To realize a new generation of industrial robot system with the ability to work collaboratively with humans, how to solve the modeling, perception and scene understanding of the human-machine shared environment by industri...

AI Technical Summary

Problems solved by technology

However, when the 3D laser ranging system is used to collect point cloud data to build a 3D model of the scene, in order to make the data more accurate and ensure the accurate description of certain details in the scene, as much point cloud data as possible needs to be collected. As dense as possible, so there is a conflicting relationship between accuracy and scan rate

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