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.

公开(公告)号：US20220182593A1

公开(公告)日：2022-06-09

申请号：US17680390

申请日：2022-02-25

Applicant: UNIVERSITY OF ELECTRONIC SCIENCE AND TECHNOLOGY OF CHINA

Inventor： Chun YIN ,  Yuhua CHENG ,  Zeqi WANG ,  Xutong TAN ,  Kai CHEN ,  Gen QIU ,  Jianhao LUO ,  Junjie LIU ,  Zhibo LI ,  Aolin YANG

IPC: H04N13/15 ,  H04N13/239 ,  H04N13/254 ,  H04N13/246 ,  G06T7/33

Abstract: A method for high-precision true color three dimensional reconstruction of mechanical component. Firstly performs image acquisition: the left and right high-resolution grayscale cameras are fixed at same height and spaced at certain distance, an optical transmitter fixed between the two grayscale cameras, and low-resolution color camera fixed above optical transmitter, thus images of measured high-precision mechanical component are shot. Then performs image processing: all images are transmitted to a computer, which uses image processing to record surface information of measured high-precision mechanical component in the point cloud by high-precision true color three-dimensional reconstruction, which reflects color texture information of the surface, so as to realize the non-contact high-precision true color three dimensional reconstruction of high-precision mechanical component. The method uses binocular high-precision grayscale cameras instead of binocular color cameras, which broadens the range of capture wavelengths, retains richer texture details of high-precision mechanical component and improves accuracy of measurement.