公开(公告)号：US20230339112A1

公开(公告)日：2023-10-26

申请号：US18140784

申请日：2023-04-28

Applicant: UNIVERSITY OF ELECTRONIC SCIENCE AND TECHNOLOGY OF CHINA

Inventor： Chun YIN ,  Yan GAO ,  Zhongbao YAN ,  Kai CHEN ,  Yuhua CHENG ,  Xutong TAN ,  Junyang LIU

IPC: B25J19/02 ,  B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1671 ,  B25J9/1692 ,  B25J19/021

Abstract: Robot assisted multi-view 3D scanning measurement based on path planning includes firstly, establishing a virtual simulation platform to complete the setting of measurement poses and measurement paths and perform the path evaluations of measurement paths. Then, completing the preliminary hand-eye calibration based on the properties of Kronecker product, and the preliminary hand-eye calibration is optimized by establishing a reprojection error cost function as the fitness function of the particle swarm optimization algorithm. Lastly, moving the robot to the measurement poses of the planned measurement paths, obtaining a single-view point cloud of the measured object and transforming it from the camera coordinate system to the robot base coordinate system to obtain a registered single-view point cloud based on the optimized hand-eye matrix. When registered single-view point clouds of all measurement poses are obtained, the points under the robot base coordinate system form a complete point cloud of the measured object.