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Method for measuring pose of cylindrical object with circular arc surface

A curved and circular technology, applied in the field of object measurement, can solve the problems of high cost and high time complexity of recognition algorithm, and achieve the effect of low cost

Active Publication Date: 2016-12-07
北京博创联动科技有限公司
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, most robots use visual sensors to measure objects. Although this method can ensure the accuracy of measurement, the cost is high, and the time complexity of the recognition algorithm is high. Moreover, for cylindrical objects, complex visual sensors are used to identify the position. posture is not necessary

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  • Method for measuring pose of cylindrical object with circular arc surface
  • Method for measuring pose of cylindrical object with circular arc surface
  • Method for measuring pose of cylindrical object with circular arc surface

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Embodiment Construction

[0038] Preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although preferred embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0039] The invention discloses a method for measuring the pose of a columnar object with a circular arc surface, the method comprising:

[0040] Step 101, using a linear laser two-dimensional measurement sensor to measure and obtain a plurality of profile data points, wherein the section emitted by the laser beam is an xoy plane, and the axis of the circular arc surface is not parallel to the xoy plane;

[0041] Step 102, performing ellipse fitting based on th...

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Abstract

The invention discloses a method for measuring the pose of a cylindrical object with a circular arc surface. The method can be used for measuring the spatial position coordinates and the spatial attitude angle of a cylindrical object having a circular arc surface of arbitrary size. According to the method, ellipse fitting is carried out on measurement data point groups sequentially, so that data points in contour data of any complex section which belong to contour data point of a cylindrical object with a specific radius are identified; ellipse fitting is carried out on the middle data points of an identified elliptic arc, and a distance between data points at two sides and an ellipse obtained through fitting is calculated, and measurement data which do not belong to the elliptic arc can be accurately eliminated; elliptic arc data points are processed through using a local regression method and a cubic spline interpolation method, so that the data can be smoothened and homogenized fast and effectively; ellipse fitting is carried out on the processed data points, so that five characteristic parameters of the ellipsis shape of the section of the cylindrical object can be obtained accurately; and spatial calculation processing is performed on the parameters, so that the pose information of the cylindrical object can be obtained finally.

Description

technical field [0001] The invention relates to the field of object measurement, and more particularly, to a method for measuring the pose of a cylindrical object with a circular arc surface. Background technique [0002] A cylindrical object with a circular arc surface (such as a cylindrical object) is one of the most basic and frequently occurring parts in industrial production, and is widely used in production and life. Traditionally, the clamping and positioning of cylindrical objects in the production and processing are performed by fixture clamping or mold positioning, and the accuracy of the pose can be guaranteed. However, for some cylindrical objects with poor cylindricity and straightness, the pose accuracy of each section cannot be guaranteed by clamping or mold positioning; Such as single-side welding, single-side drilling and other processing processes are also prone to thermal deformation such as warping. At this time, it is difficult to ensure the positioning...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00G01B11/24
CPCG01B11/002G01B11/24
Inventor 陈友东刘重续
Owner 北京博创联动科技有限公司
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