A kind of dot matrix light source intelligent vision sensor and its application and calibration method
Active Publication Date: 2022-03-25
TIANJIN POLYTECHNIC UNIV
View PDF3 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
However, the existing dot matrix light source calibration scheme has the following problems: it is necessary to adjust the camera angle, the relationship between the incident laser angle and the workpiece to ensure the level of the target image in the computer image, so there are many human factors involved, which is not conducive to ensuring the accuracy of the calibration Convenience, low engineering practicability, unable to achieve accurate positioning, precise measurement and rapid planning of spatial surface workpieces
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
[0092] Further describe the present invention below in conjunction with embodiment and accompanying drawing thereof:
[0093] Such as Figure 1 to Figure 5 as shown,
[0094] An intelligent vision sensor with dot matrix light source, including an intelligent vision sensor 4, the intelligent vision sensor 4 includes an industrial camera 5 and a dot matrix laser 6, the dot matrix laser 6 is fixedly connected with the industrial camera 5, and can emit equidistant points whose projection shape is a square array, the intelligent vision sensor 4 is equipped with a special auxiliary direction point light source 7.
[0095] An application of an intelligent visual sensor of a dot matrix light source, including an industrial robot and its control system 1, an end effector 2, an industrial computer 3 and an intelligent visual sensor 4, the intelligent visual sensor 4 adopts an eye-in-hand mode to control an industrial robot; During use, the positive direction of the dot matrix is det...
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 lattice light source intelligent vision sensor and an application and calibration method thereof, belonging to the field of industrial robot vision control. The laser lattice light source intelligent vision sensor of the invention can provide more accurate information when performing three-dimensional scanning or positioning on a curved workpiece. A lot of workpiece surface information, which facilitates the intelligent planning and rapid positioning of the industrial robot processing process; its three-dimensional target facilitates the calibration of structured light in the camera, and is more suitable for the calculation of the precise position of the laser lattice on the target surface; its The calibration scheme regards the laser lattice structured light as a regular quadrangular pyramid. By calculating the straight line equation of the height of the regular quadrangular pyramid and the pose transformation relationship of the vertices in the camera coordinate system, combined with the angle formed by each light plane and the height of the quadrangular pyramid, the laser can be quickly calculated. The spatial pose relationship of each spot ray of the lattice in the camera coordinate system. The adoption of this solution is convenient for the operator to quickly understand the position and attitude changes of the laser dot matrix light source and the vision sensor in the robot workspace.
Description
technical field [0001] The invention belongs to the field of visual control of industrial robots, and in particular relates to an intelligent visual sensor of a dot matrix light source and its application and calibration method. Background technique [0002] At present, the automatic control process of industrial robots needs to be based on the precise positioning of the workpiece or the three-dimensional measurement of the surface features of the workpiece. The traditional unstructured light multi-eye vision control technology has low precision, and cannot achieve accurate contour extraction and positioning of curved surface feature workpieces. For an intelligent visual measurement system with a single-line or multi-line laser light source, although the surface features of the spatially curved workpiece can be obtained, it is not convenient to extract the surface transformation trend between lines, and it is difficult to meet the rapid planning task of the spatially curved ...
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 Patents(China)
IPC IPC(8): G01B11/00G01B11/25
CPCG01B11/002G01B11/254
Inventor 王天琪李亮玉刘海华姚福林何俊杰
Owner TIANJIN POLYTECHNIC UNIV