Workpiece position alignment method using point cloud registration technology and three-dimensional reconstruction technology

A technology of 3D reconstruction and point cloud registration, which is applied in the field of optical measurement, can solve problems such as complex working environment, inability to perceive working conditions, and lack of environmental changes

Pending Publication Date: 2021-09-21
北京华睿盛德科技有限公司
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  • Application Information

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Problems solved by technology

Although these two modes work well, in the actual production environment, due to the changeable goals and the complex working environment, these working modes cannot perceive the working conditions and lack certain flexibility for environmental changes, resulting in low efficiency

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  • Workpiece position alignment method using point cloud registration technology and three-dimensional reconstruction technology
  • Workpiece position alignment method using point cloud registration technology and three-dimensional reconstruction technology
  • Workpiece position alignment method using point cloud registration technology and three-dimensional reconstruction technology

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Embodiment Construction

[0095] The invention provides a workpiece position alignment method using point cloud registration technology and three-dimensional reconstruction technology. Firstly, preprocessing such as denoising and simplification is performed on the collected point cloud; secondly, the mechanical arm is used as a moving device to assist in completing the reference model of the workpiece. 3D reconstruction; finally, the relevant point cloud registration algorithm is carried out to obtain the pose transformation matrix of the physical model and the reference model, so as to align the physical model and the reference model and complete the position correction of the weldment. In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0096] S1 preprocesses the obtained point cloud data to obtain the point cloud model

[0097...

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Abstract

A workpiece position alignment method using a point cloud registration technology and a three-dimensional reconstruction technology comprises the steps that firstly, a point cloud model is established through the point cloud technology, then multi-angle point cloud model coarse splicing is carried out according to the motion relation of a high-precision mechanical arm and the result of hand-eye calibration, then precise splicing is carried out through an ICP algorithm, a weldment reference model is obtained through point cloud fusion, then a workpiece model in an actual scene and the established reference model are aligned through the point cloud registration technology, the pose conversion relation between the workpiece model and the established reference model is obtained, the system can sense the pose of the workpiece in real time, and therefore positioning and alignment of the workpiece are achieved. The problem of workpiece positioning and alignment under the condition that a workpiece model is unknown is solved, and then an accurate robot motion path is obtained.

Description

【Technical field】 [0001] The invention belongs to the technical field of optical measurement, and in particular relates to a method for correcting the position of a workpiece using point cloud registration technology and three-dimensional reconstruction technology. 【Background technique】 [0002] In recent years, with the demand of industrial automation, industrial robots have been widely used in auxiliary processing. At present, in automatic production, the most widely used working methods are "teaching and reproduction" and "offline programming". Although these two modes work well, in the actual production environment, due to the changeable goals and complex working environment, these working modes cannot perceive the working conditions, and lack certain flexibility for environmental changes, resulting in low efficiency. Therefore, the intelligentization of robot-assisted processing is an inevitable trend of future development and application. [0003] The intelligence o...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/33G06T7/73G06T5/00G06T5/20G06T5/50G06T17/00G06K9/62
CPCG06T7/344G06T7/75G06T5/002G06T5/20G06T5/50G06T17/00G06T2207/10028G06T2207/20028G06T2207/20221G06T2207/30244G06F18/23
Inventor 苏锋
Owner 北京华睿盛德科技有限公司
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