Zhejiang University

Zaixing He

Xinyue Zhao

Peilong Li

Jianrong Tan

Shuyou Zhang

Dongsheng Yang

Zhile Yang

Zhiwei Jiang

Yue Chao

Bolun Zhang

Wuxi Feng

Gan Gao

Shuyou Zhan

A 6D (six degree of freedom) pose measurement method for mechanical parts based on virtual contour feature points, wherein multiple lights are used for lighting in different times for photographing, so that the success rate of recognition of geometric features in images is increased. On the basis of successful matching of lines in a real image and a template image, whether an intersection point exists between spatial lines corresponding to matching lines is calculated; when an intersection point exits between the lines, coordinates of the intersection point of planar lines in the real image and the template image are resolved and are saved as a matching point pair; and then, ellipse features in the real image and the template image are detected, and two centers are matched according to the distances between the centers and the matching lines and are saved as a center pair if successfully matched; and finally, a 2D-3D relationship of the real image is established according to a 2D-3D coordinate relationship of the template image, and the pose of a part is resolved by a PnP algorithm.

6D pose measurement method for mechanical parts based on virtual contour feature points

An adaptive-learning intelligent scheduling unified computing frame and system for industrial personalized customized production that are based on a deep neural network and reinforcement learning. An optimization algorithm is selected by automatic decision-making for a global customized production task with an industrial big data module at the bottom as an information basis, and a global optimal static scheduling plane is generated; a current dynamic event is monitored in real time; if not monitored, the global optimal static plan is executed sequentially; when a dynamic event impact requiring dynamic scheduling optimization is monitored, information of the current dynamic event is interpreted and classified, and corresponding optimization algorithms are automatically selected for dynamic scheduling optimization; and a dynamic scheduling scheme is evaluated by a subsequent module, an optimization scheme is regenerated or a most suitable optimization algorithm is automatically decided, and an equipment deployment sequence is generated for an automatic deployment.

Adaptive-learning intelligent scheduling unified computing frame and system for industrial personalized customized production

The present invention discloses a method for suppressing reflection of binary grating image projection based on high-frequency pattern interference including generating multiple high-frequency patterns for reflection suppression; generating a binary grating for three-dimensional appearance measurement, wherein the binary grating is inverted to generate a reverse binary grating; generating multiple interfering binary gratings. The projection images of multiple interfering binary gratings projected by the projector and then collected by the camera are used as output images, and all output images are synthesized in a certain manner to obtain an output image after reflection suppression, which is used as a result of the binary grating image to be projected after reflection suppression. The invention effectively eliminates the wrong measurement result caused by reflection in the three-dimensional measurement of the binary grating projection method, and improves the accuracy of the three-dimensional appearance measurement based on the binary grating projection method.

Method for suppressing reflection of binary grating image projection based on high-frequency pattern interference

Disclosed is a phase-shifting phase measurement error correction method based on pixel tracing of object raster images. During traditional phase-shifting shape measurement, surface height information is represented by phase information. The nonlinearity of equipment inevitably causes errors of phase information calculated according to images captured by a camera. The method comprises: projecting, by projector, a special raster projection to resolve a pixel-tracing mapping relation; in a direction against a light path, determining the position of a point light source that illuminates any one image pixel in a captured image and is located in an imaging plane of the projector according to the pixel-tracing mapping relation; and finally, replacing distributed phase information in image pixels with ideal phases in point light sources to correct phase errors to improve the accuracy of phase-shifting shape measurement. Compared with existing methods, the method is easy to operate and high in efficiency and precision.

Phase-shifting phase measurement error correction method based on pixel tracing of object raster images

A hand trajectory recognition method for a following robot based on hand velocity and trajectory distribution comprises: sampling and photographing an operator by a kinect camera to obtain hand projection plane data; smoothing the hand projection plane data by moving average, establishing velocity vectors, and processing the velocity vectors to obtain a hand movement descriptor; establishing a hand movement area, traversing hand three-dimensional positions of all frames in an order of sampling and photographing, assigning a mesh where the hand three-dimensional position of each frame is located, and calculating centroid positions of all assigned meshes; establishing centroid directing vectors, and processing the centroid directing vectors to obtain a hand trajectory shape descriptor; and processing cosine values of two angles to obtain a common similarity of the movement descriptor and the trajectory shape descriptor to standard descriptors, and using a standard gesture with a maximum common similarity as a result. The present invention can accurately recognize the class of a gesture, is insensitive to the translation, scaling, rotation and order of hand trajectories, is high in flexibility and can save time and energy.

Hand trajectory recognition method for following robot based on hand velocity and trajectory distribution

A method for grasping texture-less metal parts based on BOLD image matching comprises: obtaining a real image and CAD template images by photographing, extracting a foreground part of the input part image, calculating a covariance matrix of a foreground image, establishing the direction of a temporary coordinate system, and setting directions of line segments to point to a first or second quadrant of the temporary coordinate system; constructing a descriptor of each line segment according to an angle relation between the line segment and k nearest line segments, and matching the descriptors of different line segments in the real image and the CAD template images to obtain line segment pairs; and recognizing a processed pose through a PNL algorithm to obtain a pose of a real texture-less metal part, and then inputting the pose of the real texture-less metal part to a mechanical arm to grasp the part. The present invention can correctly match line segments, obtain an accurate pose of the part by calculation, successfully grasp the part, and satisfy actual application requirements.

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Hangzhou, China

Zaixing He