Abstract: To meet the spraying demand of personalized customized product,an automated spraying system was proposed.To achieve the function of coordinate transformation module in system,a coordinate transformation method based on point cloud and image matching was built.The 2D image and 3D point cloud of a spraying object were acquired by camera and 3D scanner respectively,and the 2D point cloud image was obtained by projecting 3D point cloud.Through improving the canny operator,the closed edges of 2D image and point cloud projection image were obtained.The curvatures of each point in the closed edges were calculated and expanded to the form of curvature chain code to match images,and then the transformation of point cloud coordinate system and the robot coordinate system was achieved.The feasibility of the proposed method was verified with experiments.

Key words: automated spraying system, coordinate transformation, point cloud, image matching

摘要： 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,提出一种基于点云与图像匹配的坐标变换方法。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,建立了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。

关键词: 自动化喷涂系统, 坐标变换, 点云, 图像匹配