Method for calculating posture of target object containing threads
A calculation method and target technology, which is applied in the field of pose calculation of threaded targets, can solve problems such as high reflective characteristics, complex stud surfaces, and long time-consuming use of line lasers.
Active Publication Date: 2019-11-05
易思维(杭州)科技有限公司
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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
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[0033] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0034] Utilize the method provided by the invention to detect the stud on the automobile workpiece, the specific steps are as follows:
[0035] 1) if figure 1 As shown, the point cloud data of the projected side of the stud is obtained, and the initial axis of the stud is fitted according to the point cloud data. A point on the stud and the initial axis are used to make a plane, and 15 planes are made. Between two adjacent planes The angle between them is 10°;
[0036] 2) Select a plane and calculate the distance from the point on the thread target to this plane. When the distance value is less than the threshold 0.1mm, such as figure 2 As shown, the point (x p ,y p ,z p ) onto the current plane and mark it as a thread point on this plane (x 0 ,y 0 ,z 0 );
[0037] Assuming that the plane equation is ax+by...
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The invention discloses a method for calculating the posture of a target object containing threads. The method comprises the steps of acquiring point cloud data of the target object containing the threads, fitting an initial axis, and making N planes; projecting points on the target object containing the threads onto a current plane, recording the plane with the largest number of points as a reference plane, and recording other planes as to-be-matched planes; rotating all planes parallel to an xoy plane; obtaining a reference thread point set and to-be-matched point sets; using an interpolation algorithm and a curve fitting method for obtaining a reference curve; translating each to-be-matched point set to the most matched positions; obtaining a target point set and searching for a tooth vertex set and a tooth bottom point set; performing cylindrical fitting to obtain axes, recording the cylindrical axis fitted by the tooth vertex set as a correct axis, and calculating the posture. Theposture data of the target object containing the threads, which is calculated by means of the method, is accurate and high in real-time performance.
Description
technical field [0001] The invention relates to the field of industrial manufacturing and detection, in particular to a pose calculation method for a threaded target object. 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 structured light to reconstruct...
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IPC IPC(8): G01B11/00
CPCG01B11/00
Inventor 郭寅于彭孙博
Owner 易思维(杭州)科技有限公司