Method for positioning cylinder by using line structured light sensor and application thereof
A technology for positioning cylinders and line structured light, applied in the direction of optical devices, instruments, measuring devices, etc., can solve the problems of increasing defect rate, inaccurate positioning, affecting the processing process, etc., to save algorithm time, high precision, short time effect
Active Publication Date: 2020-06-23
易思维(杭州)科技有限公司
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Problems solved by technology
In the traditional method, the position of the pin in the default positioning device is fixed and accurate, ignoring the loosening, wear and aging of the mechanical structure after long-term use, which makes the positioning inaccurate, affects the processing accuracy of the object to be processed, and even affects the processing process or increases defective rate
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[0033] A method for locating the position of a cylinder using a line-structured light sensor. In a standard state, such as figure 1 As shown, the cylinder 2 is vertically arranged at the installation position 1, and the relative position between the line structured light sensor, the cylinder 2 and the installation position 1 is fixed; the conversion relationship between the line structured light sensor coordinate system and the global coordinate system is known;
[0034] Include the following steps:
[0035] 1) The line structured light sensor projects the line laser to the side surface of the cylinder, and collects the picture; extracts the light strip image in the picture (such as figure 2 / image 3 As shown), the coordinates of all points on the light strip image are converted from the line structured light sensor coordinate system to the global coordinate system;
[0036] 2) When the axis of the cylinder in the standard state is perpendicular to the xoy plane of the gl...
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The invention discloses a method for positioning a cylinder by using a line structured light sensor and application thereof, and the method comprises the steps of the sensor projecting line laser to the side surface of the cylinder to obtain a light bar image, and converting all points to a global coordinate system; when the axis of the cylinder is perpendicular to the xoy plane of the global coordinate system, fitting a circle by utilizing the coordinates of the light bar arc segment points, and solving the coordinates of the circle center; taking the median of the z axis as the z value of the circle center; if not, constructing a cylinder coordinate system in advance, taking the bottom surface of the cylinder as an xoy plane of the cylinder coordinate system, and taking the axis of the cylinder as a z axis; projecting all the points to an xoy plane, fitting a circle I, and solving a circle center coordinate of the circle I; obtaining a coordinate value of a circle center coordinate of the circle I under a global coordinate system by utilizing a rotation and translation conversion relationship; taking the z-direction median of the light bar straight line segment point as the circle center z value of the circle I. The method can reflect the position of the positioning equipment in real time, and guarantees the machining precision of a final product.
Description
technical field [0001] The invention relates to the field of laser vision measurement, in particular to a method for locating the position of a cylinder by using a line structured light sensor and its application. Background technique [0002] With the vigorous development of the automated production industry, more and more intelligent equipment has been introduced into the processing industry. In order to meet the streamlined production of products, it is first necessary to solve the positioning problem of the object to be processed. In order to realize the positioning of the workpiece to be processed, positioning equipment such as pins are introduced into the production process. In the traditional method, the position of the pin in the default positioning device is fixed and accurate, ignoring the loosening, wear and aging of the mechanical structure after long-term use, which makes the positioning inaccurate, affects the processing accuracy of the object to be processed, ...
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IPC IPC(8): G01B11/00
CPCG01B11/002
Inventor 尹仕斌郭寅郭磊孙博谢康康
Owner 易思维(杭州)科技有限公司