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Alternative TitleLarge-size circular ring target structured light measurement method for automatic capture of manipulator
郝颖明; 朱枫; 魏景阳; 李展; 吴清潇; 付双飞; 范晓鹏; 欧锦军; 段红旭; 王爽
Rights Holder中国科学院沈阳自动化研究所
Patent Agent21002 沈阳科苑专利商标代理有限公司
Other AbstractThe invention relates to a large-size circular ring target structured light measurement method for automatic capture of a manipulator. A hand-eye vision sensor is installed at the tail end of a manipulator, laser is projected onto the front surface of a circular ring target respectively , a circular ring target image with a laser strip is collected by using a camera, and a candidate target laser strip combination is identified in the circular ring target image; point-line combined target image features are selected and extracted on the candidate target laser strip according to the relative pose solving requirement; and for each group of candidate laser light bar combinations, the relative position and attitude between a manipulator tool coordinate system and a target coordinate system areobtained by adopting a pose solving method based on intermediate transformation according to the target image features. According to the invention, pose measurement of a large-size circular ring target is realized by adopting bilateral multi-line structured light, the method has the characteristics of high reliability, strong adaptability to an illumination environment and high measurement speed;and when a baseline is long enough, very high measurement precision can be achieved.
PCT Attributes
Application Date2018-12-10
Date Available2021-08-10
Application NumberCN201811503751.X
Open (Notice) NumberCN111288888A
Contribution Rank1
Document Type专利
Recommended Citation
GB/T 7714
郝颖明,朱枫,魏景阳,等. 面向机械手自动抓捕的大尺寸圆环目标结构光测量方法[P]. 2020-06-16.
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File name: CN201811503751.X.pdf
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