Automatic spraying system coordinate transform method based on point cloud and image matching

Abstract

The invention provides an automatic spraying system coordinate transform method based on point cloud and image matching. The method comprises the steps of building a robot coordinate system R, an image coordinate system U and a point cloud coordinate system V; collecting an image Q of a spraying object on a spraying platform, and acquiring description of the spraying object in the robot coordinate R, wherein RQ is equal to RTUUQ; acquiring geometric attributes of the closed image edge of the image Q; acquiring geometric attributes of the edge of the projection of a point cloud model; forming the geometric attributes of the closed image edge of the image Q and the geometric attributes of the edge of the planar projection of the point cloud model into chain codes and matching with each other, and acquiring a transformation relation from the point cloud coordinate system V to the robot coordinate system R according to transformation from the point cloud coordinate system V to the image coordinate system U and transformation from the image coordinate system U to the robot coordinate system. According to the method provided by the invention, a calculation amount can be effectively reduced, time consumed during a path planning process of a spraying robot is shortened, efficiency is improved, downtime of the spraying robot is effectively reduced, and productivity is ensured.

Description

technical field [0001] The invention relates to a spraying system control method, in particular to a coordinate transformation method for an automatic spraying system based on point cloud and image matching. Background technique [0002] Spraying robots are currently one of the most widely used industrial robots. There are many obvious advantages in using spraying robots on the production line, such as stronger environmental adaptability, safety and reliability, high efficiency, and more environmental protection. In the field of product manufacturing Among them, most of the repetitive spraying work is replaced by spraying robots. With the current increasing demand for personalized product customization, the single repeatability of products will be reduced, which puts forward higher automation requirements for spraying robots. [0003] At present, the research on the automation of spraying robots mainly includes offline automatic programming and "online calibration" of the r...

AI Technical Summary

Problems solved by technology

[0003] At present, the research on the automation of spraying robots mainly includes offline automatic programming and "online calibration" of the robot; offline programming is to plan the trajectory of the robot according to the three-dimensional digital model of the product in the offline situation, which can reduce the downtime of the robot. However, in the case of rapid changes in the spraying object, the process of calibrating the position of the spraying object in the robot coordinate system will take a lot of time; "online calibration" is to obtain the position and geometric information of the working object in real time by installing a camera at the end of the robot, but " "Online calibration" requires a relatively large workspace, takes a long time and is inefficient

Images