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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,提出了一种基于点云与图像匹配的坐标变换方法。在该方法中,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算子来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,从而建立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。
In response to the current needs of personalized custom spray products, developed a set of automated spraying system. In order to realize the function of coordinate transformation in the system, a coordinate transformation method based on point cloud and image matching is proposed. In this method, a two-dimensional image and a three-dimensional point cloud of the sprayed object are respectively acquired by a camera and a three-dimensional scanner, and the point cloud is projected to obtain a point cloud projection image; the canny operator is extracted to extract a two-dimensional image and a point cloud projection The closed edge of the image is calculated, the curvature of each point of the edge is calculated and then expanded to a curvature chain code to be matched, so that the transformation relation between the point cloud coordinate system and the robot coordinate system is established. The feasibility of this method is verified by experiments.