Method for quickly recovering working function of three-dimensional vision sensor
Pending Publication Date: 2022-03-04
易思维(杭州)科技有限公司
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Problems solved by technology
This process requires continuous trial and verification of the robot’s measurement trajectory until the robot’s measurement trajectory is complete and correct, and then saves and records the position information of the standard trajectory in the visual sensor coordinate system. In an automated production line, a station blockage will affect the entire production line The output of the production line, the existing method seriously slows down the progress of industrial production
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[0061] As a preferred embodiment of the present invention, the following method is used to determine whether the sensor position needs to be roughly adjusted:
[0062] Set at least 3 non-collinear marker points on the target;
[0063] Perform the following steps before step 1):
[0064] The two-dimensional coordinates of the marker points acquired by the sensor (before the position change or after the function recovery) during normal operation are recorded as the original two-dimensional coordinates, and the two-dimensional coordinates of the marker points acquired by the sensor after the position change are recorded as the measured two-dimensional coordinates ;
[0065] Compare the original two-dimensional coordinates of a single marker point with the measured two-dimensional coordinates to obtain the coordinate difference;
[0066] Obtain the coordinate difference of each marker point, judge whether the maximum value of the difference exceeds the preset threshold A, if not...
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The invention provides a three-dimensional vision sensor working function rapid recovery method, which comprises the following steps: after the position of a sensor is changed, a robot drives a three-dimensional vision sensor to run to a specified position, and target surface point cloud is collected and recorded as actually measured point cloud; the target comprises at least three planes, and any two planes are not parallel to each other; performing point cloud registration on the actually measured point cloud and the original point cloud to obtain a rotation translation matrix between the sensors before the position change and the sensors after the position change; compensating to the hand-eye relationship between the three-dimensional vision sensor and the tail end of the robot so as to obtain the hand-eye relationship after the position of the sensor is changed, and realizing the recovery of the working function of the three-dimensional vision sensor; according to the method, a standard track does not need to be searched and recorded, the pose change of the sensor in the six-degree-of-freedom direction is reflected by utilizing a special three-dimensional target, and the transformation relation before and after the position change of the sensor is calculated by acquiring the point cloud information of the target, so that the quick recovery of the function of the three-dimensional visual sensor is realized.
Description
technical field [0001] The invention relates to the field of visual measurement, in particular to a method for quickly restoring the working function of a three-dimensional visual sensor. Background technique [0002] Robot vision refers to a system that enables the robot to have visual perception functions. Usually, the visual sensor is fixed on the end flange of the robot; the hand-eye relationship between the vision sensor and the end flange of the robot is obtained through hand-eye calibration. The information of the object to be measured acquired by the visual sensor is transferred to the base coordinate system of the robot through the hand-eye relationship and the pose of the robot to complete the positioning of the object to be measured, and based on the positioning, the robot is guided to complete the automation operation. Therefore, the hand-eye relationship is an essential part in this type of application. During the working process, the robot works along a highly...
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Login to View More IPC IPC(8): G06T7/33G06T7/73G06T7/80
CPCG06T7/344G06T7/75G06T7/80G06T2207/10028G06T2207/30204G06T2207/30241G06T2207/30244
Inventor 郭磊郭寅尹仕斌刘海庆赵素雷
Owner 易思维(杭州)科技有限公司