摘要
针对当前个性化定制产品的喷涂工作需求,研发了一套自动化喷涂系统。为了实现系统中的坐标变换功能,提出一种基于点云与图像匹配的坐标变换方法。利用摄像机和三维扫描仪分别获取喷涂对象的二维图像和三维点云,并将点云进行投影获得点云投影图像;通过改进canny算子提取二维图像和点云投影图像的闭合边缘;计算得到边缘各点的曲率并将其展开为曲率链码的形式进行匹配,建立了点云坐标系与机器人坐标系的变换关系。通过实验验证了该方法的可行性。
To meet the spraying demand of personalized customized product,an automated spraying system was proposed.To achieve the function of coordinate transformation module in system,a coordinate transformation method based on point cloud and image matching was built.The 2 Dimage and 3 Dpoint cloud of a spraying object were acquired by camera and 3 Dscanner respectively,and the 2 Dpoint cloud image was obtained by projecting 3 Dpoint cloud.Through improving the canny operator,the closed edges of 2 Dimage and point cloud projection image were obtained.The curvatures of each point in the closed edges were calculated and expanded to the form of curvature chain code to match images,and then the transformation of point cloud coordinate system and the robot coordinate system was achieved.The feasibility of the proposed method was verified with experiments.
出处
《计算机集成制造系统》
EI
CSCD
北大核心
2017年第11期2392-2398,共7页
Computer Integrated Manufacturing Systems
基金
国家科技支撑计划资助项目(2015BAF17B02)
重庆市自然科学基金资助项目(cstc2013jjB70002)~~
关键词
自动化喷涂系统
坐标变换
点云
图像匹配
automated spraying system
coordinate transformation
point cloud
image matching
