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1.发明公开公开(公告)号：US20240359326A1
公开(公告)日：2024-10-31
申请号：US18769309
申请日：2024-07-10
Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY
Inventor： Jian GAO , Disai CHEN , Yuheng LUO , Lanyu ZHANG , Zhuojun ZHENG , Guoqing WU , Xin CHEN
IPC: B25J9/16
CPC classification number: B25J9/1664 , B25J9/1607 , B25J9/163
Abstract: The present application provides a kinematics modeling method, apparatus and device for a multi-degree-of-freedom mechanism and a storage medium. The method includes: constructing a point coordinate system, and constructing the transformation matrix; constructing transformation matrices of two rotating axes and the transformation matrix; constructing the forward kinematics model based on the transformation matrices of the point coordinate system, the two rotating axes and the workpiece coordinate system; solving the motor value of the rotating axis through the rotation matrix of the end-effector, using the translation matrix of the end-effector as a non-homogeneous linear equation set, solving the motor value of linear axis. Thus solving the technical problem in the prior arts that the redundant parameters are introduced as a cost to separate the linear axis and the rotating axis for step-by-step kinematics calibration, which affects the error calibration precision of the overall end-effector movement of the mechanism.
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公开(公告)号：US20240335949A1
公开(公告)日：2024-10-10
申请号：US18483499
申请日：2023-10-09
Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY
Inventor： Jian GAO , Guoqing WU , Yuheng LUO , Lanyu ZHANG , Zhuojun ZHENG , Disai CHEN , Xin CHEN
IPC: B25J9/16
CPC classification number: B25J9/1692 , B25J9/1697
Abstract: Disclosed are a kinematics parameter calibration method and system of a multi-axis motion platform. The method comprises the following steps of: collecting calibration board images in different spatial positions according to a position relation between the platform and a camera, recording a corresponding motor motion amount, solving a hand-eye pose relation matrix and a pose matrix of a calibration board coordinate system in a platform tail end coordinate system, further solving a coordinate measured value of an angular point on the calibration board in a platform base coordinate system and a coordinate theoretical value of a position matrix of the tail end of the motion platform, determining a residual error matrix according to the measured value and the theoretical value, and identifying an error parameter by the residual error matrix to complete kinematics parameter calibration of the platform.
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Patent Agency Ranking
3.发明公开公开(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
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.
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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.
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5.发明申请公开(公告)号：US20240378839A1
公开(公告)日：2024-11-14
申请号：US18767924
申请日：2024-07-09
Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY
Inventor： Jian GAO , Junlang LIANG , Lanyu ZHANG , Yuheng LUO , Zhuojun ZHENG , Xin CHEN
Abstract: The present application provides an image stitching method, apparatus and device based on reinforcement learning and a storage medium. The method includes: acquiring initial calibration parameters, collecting a sample image and position information of a motion platform; setting a negative reward function; acquiring a state set and a negative reward value set according to a randomly generated action set, the initial calibration parameters, the position information of the motion platform and the negative reward function to construct a probability kinematics model; constructing a state value function based on an occurrence probability of the state, and acquiring an optimal action by optimizing the state value function; and acquiring optimized calibration parameters through the optimal action and the initial calibration parameters, and carrying out image stitching on corresponding sample images through the optimized calibration parameters. The application solves the technical problem of low image stitching quality in the prior art.
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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
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.
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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
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.
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