公开(公告)号：US20240159521A1

公开(公告)日：2024-05-16

申请号：US18423054

申请日：2024-01-25

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian GAO ,  Yizhong ZHUANG ,  Lanyu ZHANG ,  Haixiang DENG ,  Yun CHEN ,  Xin CHEN

IPC: G01B11/25 ,  G06T7/73 ,  G06T7/80 ,  G06T17/00 ,  H04N13/239

CPC classification number: G01B11/2545 ,  G06T7/75 ,  G06T7/85 ,  G06T17/00 ,  H04N13/239 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/30204 ,  G06T2210/56

Abstract: A three-dimensional measurement method combines the three-step phase shift method to embed the marker line information into the sinusoidal stripe pattern to obtain the target stripe pattern. The target stripe pattern is projected onto the surface of the object to be measured, and the wrapped phase image, mean intensity image and modulated intensity image of the stripe pattern collected by the left and right cameras are solved. The mask image according to the mean intensity image and modulation intensity image is solved to extract the marker line. The spatial phase unwrapping starting from the marker line in the wrapped phase image is performed to obtain the spatial phase. The spatial phase matching based on the unique correspondence between the left and right cameras based on the spatial phase of the marker line is performed, the best matching point of the right camera is obtained.

公开(公告)号：US20240171036A1

公开(公告)日：2024-05-23

申请号：US18430711

申请日：2024-02-02

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian GAO ,  Junhao YI ,  Lanyu ZHANG ,  Haixiang DENG

IPC: H02K5/24 ,  F16F15/02 ,  H02K11/21 ,  H02K33/18

CPC classification number: H02K5/24 ,  F16F15/021 ,  H02K11/21 ,  F16F2228/063 ,  F16F2232/08 ,  H02K33/18

Abstract: A voice coil motor direct-driven active vibration isolation and leveling integrated platform. The voice coil motor direct-drive active vibration isolation and leveling integrated platform includes a moving platform, a base, a driving mechanism and a vibration isolation and leveling composite mechanism; the moving platform is rotatably disposed on the base around the X-axis and the Y-axis through the vibration isolation and leveling composite mechanism; the driving mechanism is used to drive the moving platform to perform leveling movement, and the force exerted by the driving mechanism on the moving platform is distributed symmetrically around the circumference of the moving platform.

公开(公告)号：US20240212210A1

公开(公告)日：2024-06-27

申请号：US18475025

申请日：2023-09-26

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian GAO ,  Zhenyu ZHENG ,  Zhuojun ZHENG ,  Lanyu ZHANG ,  Haixiang DENG ,  Xin CHEN

IPC: G06T7/80 ,  B25J9/16 ,  H04N17/00

CPC classification number: G06T7/80 ,  B25J9/1692 ,  B25J9/1697 ,  H04N17/002 ,  G06T2207/10028 ,  G06T2207/30244

Abstract: A hand-eye calibration method based on three-dimensional point cloud of a calibration plate. The method includes: constructing a two-dimensional checkerboard calibration plate and a three-dimensional scanning system consisting of a camera and a projector; performing a calibration on each of the camera and the projector to obtain internal parameters of the two; performing a calibration on the camera and the projector to obtain a coordinate system transformation relation between the two; changing a pose of the calibration plate for at least three times, and acquiring at least three sets of transformation matrices of the calibration plate relative to a camera coordinate system and transformation matrices of an end of a manipulator relative to a manipulator base coordinate system through point cloud three-dimensional coordinates of the calibration plate; and solving to obtain a high-precision transformation matrix of the camera coordinate system relative to the manipulator base coordinate system.

公开(公告)号：US20230194249A1

公开(公告)日：2023-06-22

申请号：US18062958

申请日：2022-12-07

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian GAO ,  Guixin ZHANG ,  Lanyu ZHANG ,  Haixiang DENG ,  Yun CHEN ,  Yunbo HE ,  Xin CHEN

IPC: G01B11/25

CPC classification number: G01B11/254

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.

公开(公告)号：US20230074445A1

公开(公告)日：2023-03-09

申请号：US17986026

申请日：2022-11-14

Applicant: Guangdong University of Technology

Inventor： Jian GAO ,  Zhuojun ZHENG ,  Lanyu ZHANG ,  Haixiang DENG

IPC: G01B11/25

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.

公开(公告)号：US20240210915A1

公开(公告)日：2024-06-27

申请号：US18583904

申请日：2024-02-22

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian GAO ,  Guixin ZHANG ,  Yuheng LUO ,  Lanyu ZHANG ,  Haixiang DENG ,  Yun CHEN ,  Xin CHEN

IPC: G05B19/4103

CPC classification number: G05B19/4103 ,  G05B2219/34169

Abstract: A five-axis linkage synchronous tool path interpolation method and system, which utilizes the strict proportional coefficient relationship between points, control points and parameters on the first-order derivative curve of the spline curve, more accurate tool axis path curve interpolation points from the parameters of the tool tip path curve are calculated. There is no need to calculate the tool axis path curve interpolation points according to interval synchronization. It is not affected by the shape consistency of the tool tip path curve and the tool axis path curve.

公开(公告)号：US20230401730A1

公开(公告)日：2023-12-14

申请号：US18154557

申请日：2023-01-13

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Zhuojun ZHENG ,  Jian GAO ,  Lanyu ZHANG ,  Haixiang DENG ,  Yun CHEN ,  Xin CHEN

IPC: G06T7/521 ,  G01C3/02

CPC classification number: G06T7/521 ,  G01C3/02 ,  G06T2207/10028

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.

公开(公告)号：US20230217036A1

公开(公告)日：2023-07-06

申请号：US18065530

申请日：2022-12-13

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian GAO ,  Yuanyang WEI ,  Lanyu ZHANG ,  Haixiang DENG ,  Yun CHEN ,  Xin CHEN

IPC: H04N19/513 ,  H04N19/172

CPC classification number: H04N19/513 ,  H04N19/172

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.

公开(公告)号：US20230185262A1

公开(公告)日：2023-06-15

申请号：US17991936

申请日：2022-11-22

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian GAO ,  Guixin ZHANG ,  Lanyu ZHANG ,  Haixiang DENG ,  Yun CHEN ,  Yunbo HE ,  Xin CHEN

IPC: G05B19/04 ,  G06F17/16

CPC classification number: G05B19/041 ,  G06F17/16

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.

公开(公告)号：US20230076442A1

公开(公告)日：2023-03-09

申请号：US17985272

申请日：2022-11-11

Applicant: Guangdong University of Technology

Inventor： Zhuojun ZHENG ,  Jian GAO ,  Lanyu ZHANG ,  Haixiang DENG

IPC: G06T15/08 ,  G06T15/00

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.