Positioning method, application and precision evaluation method of object with edge characteristics only
A positioning method and edge technology, applied in the field of structured light measurement, can solve the problems of edge test point offset and inaccurate positioning, and achieve the effect of high-precision positioning
Active Publication Date: 2020-12-15
易思维(杭州)科技有限公司
View PDF16 Cites 2 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0003] In order to solve the above problems, the present invention provides a workpiece visual positioning method based on single-line structured light, which uses the idea of optimization to improve the existing positioning method, and effectively solves the problems of edge test point offset and inaccurate positioning problem, improved visual positioning accuracy
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0034] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0035] A positioning method for an object with only edge features, wherein at least two edges that are not on the same straight line are formed on the surface of the edge-only feature object; comprising the following steps:
[0036] The robot drives the single-line structured light sensor to detect the standard workpiece at multiple different test positions, and the test results include at least three points on the edge that are not on the same straight line (preferably, the three-dimensional coordinates of the points in the test result can monitor the workpiece along the The offset in the three directions of X, Y, and Z and the rotation around the three axes of X, Y, and Z (that is, in line with the 321 system selection principle)); before the test, calibrate the auxiliary linear equations of each test position and ...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a positioning method of an object with edge characteristics only. The method comprises the following steps: a robot drives a single-line structured light sensor to detect a standard workpiece, calibrates standard data, and records a light plane equation of each test position; during testing, the robot drives the single-line structured light sensor to acquire three-dimensional coordinates of each test point on an actual measurement workpiece at different test positions, and the three-dimensional coordinates are recorded as actual measurement data; a rotation translationmatrix is calculated based on the calibrated three-dimensional coordinates and the actual measurement data; rotating and translating are carried out on each auxiliary straight line, and intersection points of the auxiliary straight lines and respective corresponding light plane equations are recorded into a calibration point set; the actual measurement data and the distance between the corresponding points of the calibration point set are taken as a target function, and iteration is carried out to obtain an optimal rotation translation matrix meeting a convergence condition by utilizing an optimization method; and the optimal rotation translation matrix is compensated to the coordinate of each test point in the calibration process to obtain the position of the current workpiece, and positioning is finished. According to the method, the problems of edge test point offset and inaccurate positioning are effectively solved, and the accuracy of visual positioning is improved.
Description
technical field [0001] The invention relates to the field of structured light measurement, in particular to a positioning method, application and accuracy evaluation method of an object with only edge features. Background technique [0002] In the field of active vision measurement, structured light measurement is a common measurement method, and the most widely used is the line laser feature, which projects a laser bar to the measured object through a line laser, and uses an image acquisition device to collect light bar images. To obtain the three-dimensional information of the measured object, when using the line structured light sensor for visual positioning, it is necessary to select the features on the measured object, and perform feature extraction to obtain three-dimensional information, and then realize visual positioning. In actual use, visual positioning is often applied In the field of visual guidance or automatic processing and assembly, workpieces of the same ty...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00G01B11/24
CPCG01B11/002G01B11/24
Inventor 郭寅尹仕斌刘海庆李晓飞
Owner 易思维(杭州)科技有限公司