关键词: 自动化喷涂系统, 坐标变换, 点云, 图像匹配

Abstract: To meet the spraying demand of personalized customized product,an automated spraying system was proposed.To achieve the function of coordinate transformation module in system,a coordinate transformation method based on point cloud and image matching was built.The 2D image and 3D point cloud of a spraying object were acquired by camera and 3D scanner respectively,and the 2D point cloud image was obtained by projecting 3D point cloud.Through improving the canny operator,the closed edges of 2D image and point cloud projection image were obtained.The curvatures of each point in the closed edges were calculated and expanded to the form of curvature chain code to match images,and then the transformation of point cloud coordinate system and the robot coordinate system was achieved.The feasibility of the proposed method was verified with experiments.

Key words: automated spraying system, coordinate transformation, point cloud, image matching