Title:
ARTICLE SURFACE GLUING METHOD AND APPARATUS BASED ON ROBOT VISION, DEVICE, AND MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/222515
Kind Code:
A1
Abstract:
The present application discloses an article surface gluing method based on robot vision, an article surface gluing apparatus based on robot vision, an electronic device, and a storage medium. The article surface gluing method based on robot vision of the present application comprises: acquiring 3D point cloud information of an article; determining 3D image information of the article on the basis of the 3D point cloud information and preset 3D image template information; mapping the 3D image information into 2D image information; generating 2D gluing trajectory points on the basis of the 2D image information; mapping the 2D gluing trajectory points into 3D gluing trajectory points; and performing gluing on the basis of the mapped 3D gluing trajectory points. According to the present invention, complete 3D point cloud information of the article is acquired by a matching method, incomplete 3D point cloud information is replaced with the complete 3D point cloud information, an image processing operation of a 2D image level is performed to obtain the 2D gluing trajectory points, and then the 2D gluing trajectory points are converted into the 3D gluing trajectory points, such that a camera still can obtain the gluing trajectory points on the basis of a contour of the article even acquiring the incomplete point cloud information. The present invention further provides an article 3D image information acquisition method based on robot vision, and in the method, an article matching method is performed on the basis of 3D contour information. Compared with a conventional method, the method can greatly improve the matching efficiency on the premise that the matching accuracy is not lost.
Inventors:
LI HUI (CN)
WEI HAIYONG (CN)
DING YOUSHUANG (CN)
SHAO TIANLAN (CN)
WEI HAIYONG (CN)
DING YOUSHUANG (CN)
SHAO TIANLAN (CN)
Application Number:
PCT/CN2021/138582
Publication Date:
October 27, 2022
Filing Date:
December 15, 2021
Export Citation:
Assignee:
MECH MIND ROBOTICS TECH LTD (CN)
International Classes:
G06T15/00
Domestic Patent References:
| WO2019139441A1 | 2019-07-18 |
Foreign References:
| CN112967368A | 2021-06-15 | |||
| CN111744706A | 2020-10-09 | |||
| CN111815706A | 2020-10-23 | |||
| CN111695486A | 2020-09-22 |
Attorney, Agent or Firm:
BEIJING XIANYANG LAW FIRM (CN)
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