Abstract: A tracking measurement method, apparatus and device for a pose of a tail end of a manipulator. The method comprises: shooting a first calibration board mounted at the tail end of the manipulator by a monocular measurement camera, acquiring multiple sets of first transformation matrices, and mounting the monocular measurement camera on a pitch axis of a pan-tilt; shooting a second calibration board by a global camera, and acquiring multiple sets of second transformation matrices; when a calibration center of the first calibration board is in a center of a field of view of the monocular measurement camera, calculating a measured pose of the tail end of the manipulator; and when the calibration center of the first calibration board deviates from the center of the field of view of the monocular measurement camera, calculating a direction deviation angle, and adjusting the pitch axis and a horizontal axis of the pan-tilt.

Abstract: A three-dimensional measurement method comprises: converting a total number of levels of sawtooth fringes into a Gray code and acquiring a sawtooth slope coefficient; fusing the coefficient into a sawtooth fringe image to generate a target sawtooth fringe pattern; projecting each target sawtooth fringe pattern to a surface of a to-be-measured object through a projector, and collecting a deformed target sawtooth fringe pattern on the surface through a camera; solving a Gray code of each sawtooth fringe collection pattern at each pixel point according to a differential property of adjacent pixels in each sawtooth fringe collection pattern and solving a fringe level and a wrapped phase at each pixel point; calculating an absolute phase at each pixel point according to the fringe level and the wrapped phase at each pixel point, and reconstructing a three-dimensional point cloud through triangulation ranging to obtain a three-dimensional model of the to-be-measured object.

Abstract: A three-dimensional measurement method comprises: converting a total number of levels of sawtooth fringes into a Gray code and acquiring a sawtooth slope coefficient; fusing the coefficient into a sawtooth fringe image to generate a target sawtooth fringe pattern; projecting each target sawtooth fringe pattern to a surface of a to-be-measured object through a projector, and collecting a deformed target sawtooth fringe pattern on the surface through a camera; solving a Gray code of each sawtooth fringe collection pattern at each pixel point according to a differential property of adjacent pixels in each sawtooth fringe collection pattern and solving a fringe level and a wrapped phase at each pixel point; calculating an absolute phase at each pixel point according to the fringe level and the wrapped phase at each pixel point, and reconstructing a three-dimensional point cloud through triangulation ranging to obtain a three-dimensional model of the to-be-measured object.

Abstract: A structured light 3D measurement device and method based on defocus-degree-based unwrapping. Binary fringes varying in fringe width are projected onto an object, and a corresponding fringe image is collected by a camera, and then subjected to phase demodulation to calculate a wrapped phase. The defocus degree is calculated according to modulation degrees of the binary fringes. The defocus degree is plugged into the defocusing phase function to obtain a normalized reference phase. The wrapped phase is subjected to phase unwrapping based on the normalized reference phase to obtain an absolute phase to reconstruct a 3D point cloud.

Abstract: This disclosure relates to optical three-dimensional (3D) measurement, and more particularly to a large-depth-range 3D measurement method, system, and device based on phase fusion. Sinusoidal fringes corresponding to multiple high-frequency binary fringe patterns varying in stripe width, a middle-frequency binary fringe pattern, and a low-frequency binary fringe pattern are formed and then projected onto a to-be-measured object. After modulated by height of the object, the sinusoidal fringes are collected, and wrapped phases of the collected sinusoidal fringes are calculated to determine absolute phases of high-frequency sinusoidal fringes. Phase errors of a high-frequency sinusoidal fringe under different fringe widths are calculated according to the defocusing degree. An optimal absolute phase is selected based on the phase errors for the large-depth range 3D measurement.

Abstract: A time optimal speed planning method and system based on constraint classification. The method comprises: reading path information and carrying out curve fitting to obtain a path curve; sampling the path curve, and considering static constraint to obtain a static upper bound value of a speed curve; considering dynamic constraint, and combining the static upper bound value of the speed curve to construct a time optimal speed model; carrying out convex transformation on the time optimal speed model to obtain a convex model; and solving the convex model based on a quadratic sequence planning method to obtain a final speed curve. The system comprises: a path curve module, a static constraint module, a dynamic constraint module, a model transformation module and a solving module.

Abstract: A real-time pose measurement method of a planar coding target for a vision system. The planar coding target includes a plurality of coding elements, a coding block, a coding template, a minimum identification unit pattern and a coding pattern. Each coding element has a unique coding value, and serial numbers of the coding elements are different from each other. The coding block includes four coding elements that are distributed in the same rectangle ABCD and do not overlap with each other. A center of the coding block is an intersection point O of two diagonals of the rectangle ABCD. A coding value of the coding block is associated with coding values of the four coding elements contained therein.

Abstract: Disclosed are a plane coding target and an image splicing system and method applying the same. The plane coding target comprises a plurality of coding units distributed in an array, the coding unit comprises one central coding point, a plurality of normal coding points and at least one positioning point, and a positioning point distribution style of the positioning point is used for determining coordinates of the central coding point and the normal coding points in a coding unit coordinate system; and coding numerical value sequences of the coding units are different from each other and unique. The plane coding target can realize large-area coding and positioning functions, and the image splicing system applying the plane coding target can solve the problems of splicing error and error accumulation caused by an identification error of a splicing location, thus realizing large-range, high-precision and short-time two-dimensional image splicing.

Abstract: Disclosed are a plane coding target and an image splicing system and method applying the same. The plane coding target comprises a plurality of coding units distributed in an array, the coding unit comprises one central coding point, a plurality of normal coding points and at least one positioning point, and a positioning point distribution style of the positioning point is used for determining coordinates of the central coding point and the normal coding points in a coding unit coordinate system; and coding numerical value sequences of the coding units are different from each other and unique. The plane coding target can realize large-area coding and positioning functions, and the image splicing system applying the plane coding target can solve the problems of splicing error and error accumulation caused by an identification error of a splicing location, thus realizing large-range, high-precision and short-time two-dimensional image splicing.

Abstract: A three-dimensional measuring method and system for modulating three-dimensional codes at periodic edges are disclosed, the method includes: step A according to a number of phase levels and a composition rule of the three-dimensional codes, converting the number of phase levels into three-dimensional codes, modulating the three-dimensional codes to periodic edges; step B generating N pieces of modulated three-dimensional codes on periodic edges to form a sinusoidal fringe pattern, according to a N-step phase shift method; step C projecting N pieces of fringe patterns to a surface of an object, collecting the deformed N pieces of fringe patterns on the object surface; step D solving a wrapping phase and a mean intensity of N pieces of fringe patterns; step E since the mean intensities of the adjacent periodic edge codes are different, extracting edge coordinates from the mean intensities by using an edge extraction method.

Abstract: A time optimal speed planning method and system based on constraint classification. The method comprises: reading path information and carrying out curve fitting to obtain a path curve; sampling the path curve, and considering static constraint to obtain a static upper bound value of a speed curve; considering dynamic constraint, and combining the static upper bound value of the speed curve to construct a time optimal speed model; carrying out convex transformation on the time optimal speed model to obtain a convex model; and solving the convex model based on a quadratic sequence planning method to obtain a final speed curve. The system comprises: a path curve module, a static constraint module, a dynamic constraint module, a model transformation module and a solving module.

Abstract: This disclosure relates to optical three-dimensional (3D) measurement, and more particularly to a large-depth-range 3D measurement method, system, and device based on phase fusion. Sinusoidal fringes corresponding to multiple high-frequency binary fringe patterns varying in stripe width, a middle-frequency binary fringe pattern, and a low-frequency binary fringe pattern are formed and then projected onto a to-be-measured object. After modulated by height of the object, the sinusoidal fringes are collected, and wrapped phases of the collected sinusoidal fringes are calculated to determine absolute phases of high-frequency sinusoidal fringes. Phase errors of a high-frequency sinusoidal fringe under different fringe widths are calculated according to the defocusing degree. An optimal absolute phase is selected based on the phase errors for the large-depth range 3D measurement.

Abstract: A real-time pose measurement method of a planar coding target for a vision system. The planar coding target includes a plurality of coding elements, a coding block, a coding template, a minimum identification unit pattern and a coding pattern. Each coding element has a unique coding value, and serial numbers of the coding elements are different from each other. The coding block includes four coding elements that are distributed in the same rectangle ABCD and do not overlap with each other. A center of the coding block is an intersection point O of two diagonals of the rectangle ABCD. A coding value of the coding block is associated with coding values of the four coding elements contained therein.

Abstract: A structured light 3D measurement device and method based on defocus-degree-based unwrapping. Binary fringes varying in fringe width are projected onto an object, and a corresponding fringe image is collected by a camera, and then subjected to phase demodulation to calculate a wrapped phase. The defocus degree is calculated according to modulation degrees of the binary fringes. The defocus degree is plugged into the defocusing phase function to obtain a normalized reference phase. The wrapped phase is subjected to phase unwrapping based on the normalized reference phase to obtain an absolute phase to reconstruct a 3D point cloud.

Abstract: A fast clustering algorithm of kernel fuzzy C-means integrated with spatial constraints, including (1) applying the illumination processing algorithm, the preprocessed image affected by illumination is constructed; (2) After step (1), the original image and preprocessed image are mapped to the feature space using Gaussian kernel to cluster and segment. Providing a defect segmentation method for fluorescent glue which is robust to illumination to process and calculate the illuminated image, so as to complete the detection of foreign matters, bubbles and discoloration defects of fluorescent glue in lighting products. The disclosure provides a fast clustering algorithm of kernel fuzzy C-means integrated with spatial constraints.