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Track generation method and device, electronic equipment, storage medium and 3D camera

A trajectory generation and trajectory point technology, applied in the field of image processing, can solve problems such as uneven spraying, collision between nozzles and objects, etc.

Pending Publication Date: 2021-07-30
MECH MIND ROBOTICS TECH LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There will be abnormalities such as uneven spraying and collision between the nozzle and the object.

Method used

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  • Track generation method and device, electronic equipment, storage medium and 3D camera
  • Track generation method and device, electronic equipment, storage medium and 3D camera
  • Track generation method and device, electronic equipment, storage medium and 3D camera

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Embodiment Construction

[0049] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0050] figure 1 A trajectory generation method according to an embodiment of the present invention is shown, including:

[0051] Step S100, acquiring the 3D point cloud of the item;

[0052] Step S110, generating a two-dimensional image of the item based on the three-dimensional point cloud of the item;

[0053] Step S120, generating two-dimensional trajectory points based on the two-dimensional image of the item;

[0054] Step ...

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Abstract

The invention discloses a track generation method and device, electronic equipment, a storage medium and a 3D camera. The track generation method comprises the following steps: acquiring a two-dimensional image of an article; obtaining the contour of the article based on the two-dimensional image of the article; generating two-dimensional track points based on the contour of the object; acquiring height information of the two-dimensional track points; and generating a three-dimensional track point based on the two-dimensional track point and the acquired height information of the two-dimensional track point. For a specific industrial scene, namely an industrial scene in which a to-be-sprayed article passes through each direction and spraying is performed along a twisted steel pipe, the outline of the article is generated based on a two-dimensional image of the article, and then two-dimensional track points twisted along the article are generated based on the outline; and then the two-dimensional track points distorted along the article are converted into track points distorted along the article in the three-dimensional space based on the height information of the article, so that the robot can perform operations such as spraying based on the generated three-dimensional track points, and the spraying accuracy in the specific scene is greatly improved.

Description

technical field [0001] The present application relates to the field of image processing, and more specifically, to a trajectory generation method, device, electronic equipment, storage medium and 3D camera. Background technique [0002] Intelligent industrial robots can already replace humans in various fields, such as spraying, grabbing, and handling. The control methods of the robot can be roughly divided into two categories: one is to pre-plan the movement path and operation mode for the operation of the robot, and the robot operates according to the pre-planned behavior. The objects in the robot change their actions, so the robot's work objects, such as items to be sprayed / grabbed / handled, must be placed in strict accordance with the pre-planned position and posture; the other type is based on the robot's on-site Perception, such as the use of vision technology, enables the robot to perceive the position and placement of items on the industrial site, etc., and plan the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/19
CPCG05B19/19G05B2219/35349
Inventor 李辉魏海永王银仲刘冬丁有爽邵天兰
Owner MECH MIND ROBOTICS TECH LTD
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