Edge extraction method and system based on 3D vision
An edge extraction and vision technology, applied in the field of edge extraction methods and systems based on 3D vision, can solve the problems of poor precision and poor stability of plate edge extraction, and achieve the effect of eliminating low contrast, high adaptability, and compensating for complex structures
Pending Publication Date: 2019-12-03
GUANGDONG BOZHILIN ROBOT CO LTD
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[0004] Based on this, the present invention aims to provide an edge extraction method and system suitable for panel splicing using 3D vision. By using the concave pocket extraction algorithm on the three-dimensional point cloud of building materials such as panels, all the concave pocket points are traversed in turn. , output the concave point set as the edge profile of the sheet to solve the technical problems of poor accuracy and poor stability of the edge extraction of the sheet in the prior art
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[0036] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
[0037] Please refer to figure 1 with figure 2 This embodiment provides a 3D vision-based edge extraction method and system suitable for wallboard splicing, and the system structure includes: a 3D camera 100, an image processing system 110, a console 120, and a splicing robot 130;
[0038] The 3D camera 100 is used to obtain the 3D point cloud of the wallboard and transmit it to the image processing system 110;
[0039] The image processing...
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The invention discloses an edge extraction method and system based on 3D vision. The method comprises the following steps: carrying out the contour extraction of a preliminarily installed board through employing a point cloud concave package extraction algorithm, carrying out the one-to-one traversal of selected points in a specific range, and obtaining a contour extraction point cloud; boundary point clouds of to-be-aligned edges of the reference material and the to-be-installed material are extracted; straight line fitting is carried out by using a least square method, so that the technicalproblems of insufficient precision and poor stability caused by defects of the edge of the board in the conventional visual detection method are solved, and the influence of low contrast of the edge of the board can be effectively eliminated compared with the conventional 2D visual extraction method; in view of the fact that 3D vision is applied to other procedures step by step, the method can bematched with software and hardware of other procedures from the aspect of 3D vision, and the defects of complex structure and high cost are overcome.
Description
Technical field [0001] The invention belongs to the field of building intelligence, and specifically relates to an edge extraction method and system based on 3D vision. Background technique [0002] At present, the construction industry has gradually moved towards intelligence, not only using intelligent equipment to assist in the installation, but also gradually introducing intelligent auxiliary equipment such as robots, robotic arms, and industrial cameras in the subsequent series of installation procedures. For example, after the preliminary installation of the board, an industrial camera needs to be used to extract the edge of the board so that the robot or robotic arm can splice the board, that is, overlap the edges of two adjacent boards to eliminate the gap between the boards. In the prior art, this industrialized vision-based method often has the problems of poor extraction accuracy and poor stability due to defects in the edge of the sheet. [0003] Therefore, providing a...
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Login to View More IPC IPC(8): G06T7/12G06T7/13
CPCG06T2207/10028G06T2207/20024G06T7/12G06T7/13
Inventor 石俊锋蒋星张国能
Owner GUANGDONG BOZHILIN ROBOT CO LTD