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基于微振镜结构光投射器的机器人抓取

Robot Bin-Picking Based on Micro-Electro Mechnical System Structure Light Projector

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摘要

提出了一种基于微振镜结构光的三维重建方法。使用微振镜结构光快速获取图像数据,基于多频外差的方法对物体进行三维重建,使用基于点对特征三维特征匹配的方式对获取的三维数据与基准模型进行匹配和定位操作,获取了任意放置的物体在机器人坐标系中的三维坐标和法线信息。实验结果表明,基于微振镜结构光的方式可以获得0.1 mm左右的重建精度,处理时间约为0.4 s,可以满足大多数工业机器人物体定位抓取的要求。

Abstract

A three-dimensional reconstruction method based on micro-electro mechnical system structure light is proposed. This method uses micro-electro mechnical system structure light to acquire image data, and object 3D reconstruction according to the multi frequency heterodyne method. The acquired three-dimensional data are matched and located with the reference model by point pair feature matching. The three-dimensional coordinates and normal information of arbitrarily placed objects in the robot coordinate system are obtained. The experimental results show that the method based on micro-electro mechnical system structure light achieves the reconstruction accuracy of about 0.1 mm and the processing time is about 0.4 s, which can meet the requirement of positioning and grasping of most industrial robot bin-picking.

Newport宣传-MKS新实验室计划
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中图分类号:TP242.2

DOI:10.3788/cjl201946.0204002

所属栏目:测量与计量

基金项目:国防科工局核能开发科研项目([2016]1295)、四川省科技厅科技支撑计划(2016GZ0183)

收稿日期:2018-08-23

修改稿日期:2018-10-09

网络出版日期:2018-10-24

作者单位    点击查看

黄会明:西南科技大学信息工程学院, 四川 绵阳 621000
刘桂华:西南科技大学信息工程学院, 四川 绵阳 621000
段康容:四川大学电子信息学院, 四川 成都 610065

联系人作者:黄会明(hhm_swust2009@sina.com); 刘桂华(liughua_ua_swit@163.com);

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引用该论文

Huang Huiming,Liu Guihua,Duan Kangrong. Robot Bin-Picking Based on Micro-Electro Mechnical System Structure Light Projector[J]. Chinese Journal of Lasers, 2019, 46(2): 0204002

黄会明,刘桂华,段康容. 基于微振镜结构光投射器的机器人抓取[J]. 中国激光, 2019, 46(2): 0204002

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