Project type: Recognize and pick horizontal plate workpieces using edge matching; workpieces have long horizontal sides.
Project issues: For horizontal plate workpieces similar to those in Figure 1, with a substantial horizontal surface, surface matching doesn’t perform well. Edge coarse matching presents a likelihood of X-axis deviation (see Figure 3), leading to either no results in fine matching or some discrepancies.
Extract the complete partition board point cloud: Start by extracting a partition board. Then, through point cloud processing, extract a somewhat complete portion of the flat point cloud from the middle of this horizontal plate. (Note that the extracted point cloud must be complete in the horizontal direction.)
Calculate the center pose of the workpiece: Calculate the pose of this flat point cloud to determine the pose of the center of the horizontal plate.
Calculate the pose’s horizontal distance deviation: Next, perform coarse matching with the complete edge of the workpiece. Compare the pose obtained from the coarse matching with the pose of the flat point cloud from step 2 to calculate the distance between the poses, obtaining an approximate horizontal distance deviation value.
Correct the pose to the center of the workpiece: Move the pose obtained from coarse matching along the X-axis both forward and backward by this deviation value. The aim is to expand to three poses. If there’s a horizontal deviation in coarse matching, this step helps correct it, ensuring that at least one of the poses aligns with the center of the horizontal plate.
Output the corrected pose for fine matching: Finally, take the pose obtained from coarse matching and the poses obtained from moving left and right, resulting in a total of three poses, and input them into fine matching. This ensures that the pose derived from fine matching has no horizontal deviation.