Visual device used for robot and based on DLP and camera calibration and measuring method

• Main Authors: HONG LIANG, ZHANG KAI, ZHANG XUEJUN, JIAO MINGJIE, XU HUI, CHEN MANLIN, WANG PINGJIANG
• Format: Patent
• Language: Chinese; English
• Published: 28.02.2020
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; POSTAL SORTING; SEPARATING SOLIDS FROM SOLIDS; SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTEDPIECE-MEAL, e.g. BY PICKING; TRANSPORTING

The invention provides a visual device used for a robot and based on DLP and camera calibration and a measuring method. The visual device is applied to active three-dimensional noncontact measuring inthe technical field of computer vision, therefore, the robot is controlled to do sorting work, operating efficiency and accuracy are improved, the visual device is suitable for industrial fields andthe robot, measuring accuracy is high, high efficiency is achieved, and the stripe phenomenon in traditional algorithm parallax images is effectively reduced. The visual device comprises a robot arm and a visual device body arranged on the robot arm. The visual device body comprises a lower shell arranged on the robot arm, a DLP, cameras and an upper shell, wherein the DLP is arranged on the lowershell and used for guiding in Gray code coding patterns and projecting the Gray code coding patterns to to-be-shot objects, the cameras are arranged on the center axis of the optical axis of the DLPin central symmetry and are