3D智能传感器的工件位姿获取方法研究  

Research on the Method of Obtaining the Pose of the Workpiece of 3D Intelligent Sensor

作　　者：苏波[1] 郑孟州 SU Bo;ZHENG Mengzhou(School of Electrical Engineering and Automation,Henan Polytechnic University,Jiaozuo 454000,China)

机构地区：[1]河南理工大学电气工程与自动化学院,河南焦作454000

出　　处：《自动化仪表》2019年第5期53-56,共4页Process Automation Instrumentation

基　　金：河南省自然科学基金资助项目(162300410126)

摘　　要：针对传统的机器视觉系统在获取工件位姿的工业应用过程中,相机对现场光照和其他环境条件要求苛刻等一系列问题,设计了一种基于3D智能传感器的工件位姿获取系统。该系统以3D智能传感器和运动平台为基础,配合使用专业的视觉软件HALCON。系统使用上位机控制3D智能传感和运动平台工件获取三维点云数据,利用软件构建工件的3D模型和3D表面模型,并通过3D表面匹配技术获取工件的位姿。系统运行试验表明,该方法不仅可以显著提升系统的抗干扰能力,而且操作简便、稳定性好、精度高,具有一定的工业应用价值。In obtaining workpiece pose application of traditional machine vision system,the camera is harshly demanding on site lighting and other environmental conditions,to solve the problem,a 3D intelligent sensor-based workpiece pose acquisition system is designed.The system is based on 3D smart sensors and motion platforms and combined with professional visual software HALCON.The host computer controls the 3D point cloud data acquired by the 3D intelligent sensing and motion platform workpieces,and then uses the software to construct the 3D model and 3D surface model of the workpiece.Finally,the 3D surface matching technology is used to obtain the pose of the workpiece.The operation test shows that the method can significantly improve the anti-interference ability of the system,and it is easy to operate,has good stability,high precisionand certain industrial application value.

关 键 词：3D智能传感器 HALCON 位姿 点云 表面匹配 工业现场 机器视觉 

分 类 号：TH744[机械工程—光学工程]