Method and Application of Positioning Cylinder Using Line Structured Light Sensor
A technology for positioning cylinders and line structured light, which is applied in the direction of optical devices, instruments, measuring devices, etc., can solve the problems of inaccurate positioning, affecting the processing process, increasing the defect rate, etc., and achieves high precision, short time consumption, and The effect of saving algorithm time
Active Publication Date: 2021-08-17
易思维(杭州)科技股份有限公司
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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 locating the position of a cylinder by using a line structured light sensor and its application, comprising: the sensor projects a line laser to the side surface of the cylinder to obtain a light strip image, and converts all points to the global coordinate system; when the cylinder When the axis of the axis is perpendicular to the xoy plane of the global coordinate system, use the point coordinates of the arc segment of the light bar to fit the circle to obtain the coordinates of the center of the circle; use the median value of the z-axis as the z value of the center of the circle; when it is not vertical, construct the coordinates of the cylinder in advance System, take the bottom surface of the cylinder as the xoy plane of the cylinder coordinate system, and the axis of the cylinder as the z-axis; project all points onto the xoy plane, fit the circle I, and obtain the center coordinates of the circle I; use the rotation-translation transformation relationship , to obtain the coordinate value of the center coordinate of circle I in the global coordinate system; the z-direction median value of the point of the straight line segment of the light bar is used as the z value of the center of circle I; this method can reflect the position of the positioning device in real time and ensure the accuracy of the final product Precision.
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, ...
Claims
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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)科技股份有限公司