US 11,694,337 B1
Processing path generating method and device
Meng-Chiou Liao, Yunlin County (TW); Chang-Lin Wang, Changhua County (TW); Chin-Ming Chen, Taichung (TW); Chien-Yi Lee, Taichung (TW); and Po-Hsun Wu, Taichung (TW)
Assigned to INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE, Hsinchu (TW)
Filed by Industrial Technology Research Institute, Hsinchu (TW)
Filed on Mar. 31, 2022, as Appl. No. 17/710,684.
Claims priority of application No. 111104723 (TW), filed on Feb. 9, 2022.
Int. Cl. G06T 7/13 (2017.01); G06T 7/174 (2017.01); G06T 7/55 (2017.01); H04N 23/695 (2023.01)
CPC G06T 7/13 (2017.01) [G06T 7/174 (2017.01); G06T 7/55 (2017.01); H04N 23/695 (2023.01); G06T 2207/30164 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A processing path generating method, comprising:
moving an image-capturing device to a first position of a region of interest to perform an image-capture on a workpiece, so as to obtain a first image;
moving the image-capturing device to a second position to perform the image-capture on the workpiece, so as to obtain a second image;
obtaining a first edge characteristic and a second edge characteristic of the workpiece according to the first image and the second image;
fitting three-dimensional edge information of the workpiece according to the first edge characteristic and the second edge characteristic; and
generating a processing path according to the three-dimensional edge information;
wherein the step of fitting three-dimensional edge information of the workpiece according to the first edge characteristic and the second edge characteristic comprises:
performing an edge point gradient operation on the first edge characteristic and the second edge characteristic, so as to determine a plurality of edge characteristic points of the workpiece;
performing a characteristic point screening on the plurality of edge characteristic points, so as to obtain a plurality of discrete characteristic points;
calculating the plurality of discrete characteristic points to generate discrete information of the workpiece;
obtaining depth information of the workpiece according to the first edge characteristic and the second edge characteristic; and
fitting the three-dimensional edge information of the workpiece according to the edge information of the workpiece and the depth information of the workpiece.