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基于线结构光扫描的长圆柱形物体三维识别与定位方法
Alternative TitleLine structure light scanning based long cylindrical object recognizing and locating method
朱枫; 付双飞; 吴清潇; 王爽; 李思聪
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本发明面向机器人自动上料,提出了一种基于线结构光扫描的长圆柱形物体三维识别与定位方法:利用结构光测量传感器以固定步长分m次轴向扫描料箱中的长圆柱形物体表面,得到m个剖面的结构光测量数据;对每个剖面的结构光测量数据分别进行数据分割,使得属于同一物体的数据分割在一段圆弧中;对每段分割数据进行圆弧拟合,得到圆心坐标;匹配m个剖面的每个圆弧圆心,使得属于同一物体的圆弧匹配在一起;通过线性插值算法计算物体的三维坐标;确定抓取物体的标号。本发明可以实现长圆柱形物体三维坐标的在线、实时、自动、非接触测量,测量速度快、精度高;对物体自身约束小,半径和长度可以随意变化;料箱中物体摆放位置随意,可以倾斜、交叉等;对噪声具有鲁棒性。
Other AbstractThe method involves detecting position of a long cylindrical object in a material box. Length of the long cylindrical object is measured by using a linear structure light measurement sensor to obtain line structure light measurement data of multiple data sections. Data partitioning process is performed. Determination is made to check whether segmented data belonging to the same objects. Circle center coordinate of each data section is determined. Three-dimensional coordinate of the long cylindrical object is calculated to determine a captured object based on linear interpolation algorithm.
PCT Attributes
Application Date2015-11-30
2017-06-09
Date Available2019-04-09
Application NumberCN201510868428.2
Open (Notice) NumberCN106813570A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/20640
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
朱枫,付双飞,吴清潇,等. 基于线结构光扫描的长圆柱形物体三维识别与定位方法[P]. 2017-06-09.
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