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3D camera for robot disordered sorting and measuring method thereof

A measurement method and robot technology, applied in the field of three-dimensional vision measurement, can solve the problems of slow calculation speed and small measurement format, and achieve the effect of improving measurement speed and simple image processing.

Pending Publication Date: 2019-10-11
SEIZET TECH SHEN ZHEN CO LTD
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  • Claims
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AI Technical Summary

Problems solved by technology

[0004] In view of this, the present invention intends to disclose a 3D camera and its measurement method for disorderly sorting of robots, so as to solve the technical problems of small measurement format and slow calculation speed of traditional structured light 3D cameras

Method used

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  • 3D camera for robot disordered sorting and measuring method thereof
  • 3D camera for robot disordered sorting and measuring method thereof
  • 3D camera for robot disordered sorting and measuring method thereof

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Embodiment Construction

[0035] Attached below Figure 1-12 And embodiment patent of the present invention is described further.

[0036] According to the 3D camera for robotic disorder sorting implemented according to the present invention, such as figure 1 As shown, it mainly consists of two industrial cameras 1 and a projection unit 2. The industrial camera involved in this article is a standard vision component in the machine vision system. It can provide SDKs such as camera triggering and image acquisition, and supports the secondary development of window environment software. It can be obtained by those skilled in the art in the prior art. Two industrial cameras 1 are located on both sides of the projection unit 2 to form a binocular camera, and the projection range of the projection unit 2 is within the respective image collection ranges of the two industrial cameras 1 .

[0037] Further, the two industrial cameras 1 and the projection unit 2 are located at approximately the same level.

[...

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Abstract

The invention relates to a 3D camera for robot disordered sorting and a measurement method thereof, and the method comprises the steps: employing an active speckle projection technology, and projecting a designed speckle pattern to the surface of a measured object through a projection unit; then, starting the two cameras to synchronously acquire an image once; and finally, performing matching calculation and three-dimensional analysis on the acquired image by using a digital image correlation method, thereby realizing rapid reconstruction of the three-dimensional point cloud of the measured surface. Only one image needs to be collected in each measurement, the image processing is simpler, and the measurement speed is greatly improved. The technical problems that a traditional structured light 3D camera is small in measurement breadth and low in calculation speed are solved. And the projection breadth of the projection unit is larger, the brightness is higher, and the measurement requirement of 1.5 m large visual field of logistics sorting can be met.

Description

technical field [0001] The invention relates to the technical field of three-dimensional vision measurement, in particular to a 3D camera used for disorderly sorting of robots and a measurement method thereof. Background technique [0002] In recent years, with the rapid development of 3D vision technology and the continuous improvement of image acquisition equipment, 3D camera technology has been more and more used in high-end manufacturing, automobile manufacturing, robots, intelligent unmanned systems (unmanned vehicles, drones ) and other fields, provide digital basis for industrial manufacturing, and provide visual perception for automation and intelligence. [0003] According to the technical principles, 3D cameras can be divided into stripe structured light, line-scan laser and infrared imaging. At present, more than 60% of the commercialized 3D cameras use structured light technology, and projectors (such as DLP projectors) are generally used to project multiple (su...

Claims

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Application Information

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IPC IPC(8): G06T17/20G06T7/80G06T7/32G03B15/02H04N13/239
CPCG06T17/20G06T7/85G06T7/32G03B15/02H04N13/239G06T2207/10012G06T2200/08
Inventor 赵青胡浩
Owner SEIZET TECH SHEN ZHEN CO LTD
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