【摘要】 为了直接获取工件轮廓点云，设计一种基于ZYNQ可编程芯片的线激光轮廓传感器。以ZYNQ芯片为核心处理器，设计传感器的图像采集与处理硬件电路。根据相机畸变模型，通过双线性插值法矫正各像素点的灰度值，研究基于法向迭代的灰度重心法以提取激光条纹中心线，结合相机参数和激光光平面方程的标定，计算相机坐标系下激光条纹中心点的三维坐标。在ZYNQ芯片中实现上述算法的并行加速，进行工件轮廓扫描测试。结果表明：该传感器可得到工件的三维轮廓点云。更多还原

【Abstract】 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.更多还原