PROCESS FOR THE ACQUISITION OF THE SHAPE, OF THE DIMENSIONS AND OF THE POSITION IN SPACE OF PRODUCTS TO BE SUBJECTED TO CONTROLS, TO MECHANICAL MACHINING AND/OR TO GRIPPING AND HANDLING BY ROBOTIC ARMS

摘要

Process for the acquisition of the shape, of the dimensions and of the position in space of products to be subjected to controls, to mechanical machining and/or to gripping and handling by robotic arms, by means of laser scanning by a projector (PL) of a linear beam of laser light (LL), which illuminates a cross section of the object (P) while a high definition video camera (TEL) samples it at the desired frequency and in correct phase detects the profile of the product with the triangulation method, in which there is provided the detection of the original image (n) of each laser line diffused by the object, in which there is provided the production of a base or background image (n-k), which comprises any spurious disturbances present in the same original image (n) and which provides for a dynamic subtraction step of the background image from the original image, to generate an image with only the laser line and without light disturbances, characterised in that before the subtraction step there is provided a realignment or shift step to realign the background of the background image with that of the original image, so that the spurious light images of the background overlap and cancel each other out in said subtraction step, the sign of the correction or offset of said shift phase being dependent on the scanning direction. Before said subtraction step, the background image (n-k) is sufficiently dilated.