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Method for calculating the pose of a threaded target object based on point cloud data

A technology of point cloud data and calculation method is applied in the field of calculation of the pose of a target object with threads, and can solve the problems of complex stud surface, low measurement accuracy, low efficiency, and inability to meet the real-time requirements of online measurement.

Active Publication Date: 2019-04-12
ISVISION (TIANJIN) TECH CO LTD
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AI Technical Summary

Problems solved by technology

Manual detection is carried out with tools such as break gauge, dial gauge, steel ruler, wedge-shaped feeler gauge, and iron ruler. The measurement accuracy and efficiency are low, and online measurement cannot be realized.
For structured light detection, the American Perceptron company has developed a multi-line structured light sensor for stud pose detection. It uses line structured light to reconstruct the stud to analyze the stud pose, but the surface of the stud is more complicated. , and has high reflective properties, which will inevitably affect the accuracy of the center extraction of light strips. In addition, it takes a long time to use line lasers, which cannot meet the real-time requirements of online measurement

Method used

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  • Method for calculating the pose of a threaded target object based on point cloud data
  • Method for calculating the pose of a threaded target object based on point cloud data
  • Method for calculating the pose of a threaded target object based on point cloud data

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Embodiment Construction

[0020] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0021] Utilize the method provided by the invention to detect the stud on the automobile workpiece, the specific steps are as follows:

[0022] 1) When the stud is fixed, the plane where it intersects with other objects is the first plane, and the point cloud data of the workpiece is obtained, such as figure 1 As shown, the point cloud data of the stud and the first plane are obtained from it, such as figure 2 , image 3 ; Fit the plane equation M corresponding to the first plane by the method of least squares: Ax+By+Cz+1=0; obtain its normal vector (0.0052,-0.0390,-0.0454);

[0023] 2) Extract the point cloud data of the thread coverage part of the threaded target object, treat it as a cylinder for fitting, and obtain the first fitting cylinder and the axis L of the first fitting cylinder c , axis L c The dire...

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Abstract

The invention discloses a method for calculating the pose of a threaded target based on point cloud data, and the method comprises the following steps: 1) recording a plane where the threaded target intersects with other objects when the threaded target is fixed as a first plane, and obtaining the point cloud data; Fitting a plane equation of the first plane to obtain a normal vector; 2) carryingout cylinder fitting by utilizing the point cloud data of the thread covering part to obtain an axis Lc of the cylinder; 3) respectively calculating the distance from each point in the point cloud data of the thread covering part to the axis Lc; screening data, and recording the data as a data packet I; 4) performing cylinder fitting by using data in the data packet I to obtain an axis L'of the data packet I, and 5) calculating an included angle between the axis L 'and a specific plane, i.e., the included angle between the threaded target and the specific plane. The method can calculate the pose data of the threaded target after acquiring the point cloud data of the threaded target, and is accurate, real-time and suitable for online detection.

Description

technical field [0001] The invention relates to the fields of industrial manufacturing and construction, in particular to a method for calculating the pose of a threaded object based on point cloud data. Background technique [0002] In the fields of industrial manufacturing and construction, there are many scenarios that require the use of threaded objects for connection, transmission or sealing. The pose of a threaded object has a major impact on the subsequent process. Currently, there are two methods for pose detection of a threaded object: manual detection and line structured light detection. Manual detection is carried out with tools such as break gauges, dial gauges, steel rulers, wedge-shaped feeler gauges, and iron rulers. The measurement accuracy and efficiency are low, and online measurement cannot be realized. For structured light detection, the American Perceptron company has developed a multi-line structured light sensor for stud pose detection. It uses line s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T7/68
CPCG06T2207/30164G06T7/68G06T7/73
Inventor 于彭张楠楠郭磊
Owner ISVISION (TIANJIN) TECH CO LTD
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