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一种基于线结构光的汽车轮胎三维定位方法
Alternative TitleLinear structured light based method for locating three-dimensional automobile tire using industrial robot
吴清潇; 欧锦军; 郝颖明; 王爽; 张正光; 嵇冠群; 周静
Department光电信息技术研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明
Status有权
Abstract本发明面向工业机器人搬运轮胎应用中的目标定位问题,提出了一种基于线结构光的汽车轮胎三维定位方法:设计了一种十字形图案结构光;利用CCD相机采集有结构光的轮胎图像和无结构光的轮胎图像,进而得到只有结构光的图像;对结构光图像进行滤波,抑制图像中的噪声;对滤波后的图像进行边缘检测,提取结构光边缘;对边缘图像进行多次膨胀、腐蚀操作,平滑轮廓;在膨胀、腐蚀后的图像中提取水平、垂直结构光曲线段;确定胎冠上的结构光曲线段,进而得到胎冠内圆4个点的图像坐标;将4个点的图像坐标转换为三维空间坐标,并利用几何关系计算轮胎中心的三维坐标。本发明可以实现轮胎三维坐标的在线、实时、自动、非接触测量,测量速度快、系统柔性好、精度适中。
Other AbstractThe method involves collecting a tire image using a charge-coupled device (CCD) camera to obtain an image of a linear structured light. Noise in the image of the structured light is filtered. Filtered image edge detection process is performed for extracting a structure light edge image to obtain a smooth contour image. A curve section of the structured light is determined to obtain a crown circle point image coordinate. The image coordinate is converted into three-dimensional (3D) space coordinates. A tire center point in the 3D space coordinates is calculated using geometric relationship.
PCT Attributes
Application Date2015-11-30
2017-06-09
Date Available2019-02-15
Application NumberCN201510868384.3
Open (Notice) NumberCN106813569A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/20638
Collection光电信息技术研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
吴清潇,欧锦军,郝颖明,等. 一种基于线结构光的汽车轮胎三维定位方法[P]. 2017-06-09.
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