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Method for calculating pose of thread-containing target object based on point cloud data

A technology of point cloud data and calculation method, which is applied in the field of calculation of the pose of a threaded target object, can solve the problems of complex stud surface, inability to meet the real-time requirements of online measurement, and time-consuming use of line lasers.

Active Publication Date: 2019-04-16
ISVISION (TIANJIN) TECH CO LTD
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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 pose of thread-containing target object based on point cloud data
  • Method for calculating pose of thread-containing target object based on point cloud data
  • Method for calculating pose of thread-containing 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) Record the plane where the stud intersects with the bottom plate when the stud is fixed as the first plane, and obtain the point cloud data of the workpiece, 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 ; Use the least squares method to fit the plane equation M corresponding to the first plane:

[0023] Ax+By+Cz+1=0

[0024] Assuming that Q points are taken on the first plane, the coordinates are marked as: (x i ,y i ,z i ), using the least squares method to fit the best plane M;

[0025] let d i =Ax i +By i +Cz i +1, (1≤i≤N, i is rounded), let the function G(A, B, C) calcul...

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Abstract

The invention provides a method for calculating a pose of a thread-containing target object based on point cloud data. Th method comprises the following steps that 1) the plane where the thread-containing target object intersects with the other object when fixing is recorded as a first plane, and point cloud data are acquired; and a plane equation of the first plane is fitted to obtain a normal vector; 2) a plurality of plane Ci perpendicular to the first plane is made, the thread point cloud data falling on the same plane Ci are selected as a straight line fitting to obtain a straight line Li; 3) a plurality of parallel plane Pj of the first plane is made in the thread point cloud data distribution area; 4) the intersection point of the straight line Li and the plane Pj is selected, a point fitting ellipse in the same plane is used for obtaining center point coordinates; and 5) carrying out linear fitting on the coordinates of a plurality of center points, then the included angle between the axis L and the specific plane is obtained, and the included angle between the thread-containing target object and the specific plane is obtained. According to the method, the pose data of thethread-containing target object can be calculated after the point cloud data of the thread-contained target object is obtained, the method is accurate and practical, and is suitable for on-line detecting.

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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IPC IPC(8): G01C11/00
CPCG01C11/00
Inventor 于彭张楠楠郭磊
Owner ISVISION (TIANJIN) TECH CO LTD
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