High-reflective-surface metal part pose measurement method based on binocular vision and CAD model

Abstract

The invention discloses a high-reflective-surface metal part pose measurement method based on robot binocular vision and a CAD model. 3D coordinates of a plurality of feature points on the surface ofthe metal part are obtained through a binocular vision depth measurement principle, the registration rate of corresponding points in a left camera and a right camera is increased through CAD model information of the metal part, and finally stable and accurate pose measurement of the high-reflection metal part is achieved. Thus, the binocular vision system and the mechanical arm are utilized to realize stable pose measurement of the high-reflection metal part, the problem that pose measurement is unstable due to unstable imaging of the high-reflection part is solved, the pose measurement stability of the high-reflection part is greatly improved, the lighting requirement for the high-reflection metal part is lowered, the requirement for laser ranging and other auxiliary sensors is lowered, and the flexibility and the stability of binocular vision measurement of the whole robot are improved.

Description

technical field [0001] The invention relates to a pose measurement method, in particular to a pose measurement method for a metal part with a high reflective surface. Background technique [0002] With the continuous development of science and technology, the level of industrial production technology is gradually improving, especially the effective use of industrial robots, which has greatly improved the efficiency of industrial production and promoted the long-term development of industrial production [1]. With the development of artificial intelligence technology, machine vision has been introduced into the field of industrial robots. The industrial robot based on machine vision can obtain the real-time position and attitude of the workpiece by collecting environmental data for analysis and processing, and guide the movement of the mechanical arm of the handling robot [2]. In traditional industrial methods, the measurement of metal parts with high reflective properties of...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a method for measuring the pose of highly reflective metal parts based on binocular vision and CAD models, which overcomes the problem of unstable pose measurement caused by unstable imaging of highly reflective parts, and greatly improves the accuracy of highly reflective parts. Excellent position and posture measurement stability reduces the lighting requirements for highly reflective metal parts, reduces the need for other auxiliary sensors, and improves the flexibility and stability of the binocular vision measurement of the entire robot

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