To directly obtain the point cloud of workpiece contour,a line laser contour sensor based on ZYNQ fully programmable chip was designed.ZYNQ chip was applied as the core processor to design the circuit of image acquisition and processing.According to the distortion model of the camera,the gray value of each pixel was corrected by bilinear interpolation.The gray centroid method based on normal iteration was proposed to extract the centerline of laser stripe.Combined with the calibration of camera parameters and laser light plane equation,the 3D coordinates of the center point of the laser stripe in the camera coordinate system were calculated.The parallel acceleration of the above algorithm was realized with ZYNQ chip,and the workpiece contour scanning test was carried out.The results show that the sensor can obtain the 3D contour point cloud of the workpiece.
line laser contour sensorZYNQgray centroid methodcenterline extractionpoint cloud
国家科技期刊平台
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