欢迎来到天天文库
浏览记录
ID:33011937
大小:2.85 MB
页数:76页
时间:2019-02-19
《激光机器人待加工零件三维扫描测量》由会员上传分享,免费在线阅读,更多相关内容在行业资料-天天文库。
1、AbstractLaserremanufacturingrobotiStobetoward21stcenturyadvancedremanufacturingtechnology.Withthedevelopmentoftheremanufacturing,thepartstoberepairedaremorecomplexandtheprocessingprecisionishigher.Recently,mostofthelaserprocessingrobotsarelackofmachinevisionfunctionsandoff-lineprogrammingcapabilit
2、y.Inordertoimproveefficiencyandachieveautomationofrepairing,therobotnotonlyneedsobtainingtheshape,locationanddefectoftheworkpiece,butalsoneedsmonitoringtheprocess.Thus,thevisionsystemisveryimportanttolaserremanufacturingrobot.Thestereovisionprinciple,mathematicalmodel,calibration,matchingandrecons
3、tructionareintroducedindetailinthispaper.Itismainlyincludedasfollows:1.Alow-costplanartargetisdesigned,andforthenewtargetafullyautomaticrobotcalibrationmethodforstereovisionispresented.Thesinglecameraexternalparameters,therelativepositionofstereocameraandhand-eyerelationshipbetweenrobotandcamerasa
4、recalculatedautomaticallybythismethod.Comparedwithtraditionalmethods,thenewmethodachievesafullyautomaticcalibration,withbetteraccuracyandsmallercalibrationerror.2.Accordingtotheepipolargeometrytheory,afastandsimplestructuredlightmatchingalgorithmisproposedwithhighaccuracy.Itdoesn’tneedanyotherequi
5、pmentormarkers,andCanmeetthereal-timerequirements.3.AstereoCCD/CMOSvisionsystembasedonstructuredlightisdesignedwhichismadeupbystereocamera,laserprojectorandPC.Itcallcouplewithlaserremanufacturingroboteasily.3Dscanningdeviceiscarriedbyrobottocompletethescanningfrommulti·views.Thedatafromdifferentvi
6、ewsCanbecalculatedandregisteredtoworldcoordinateautomaticallyandpointclouddataisgot.Afterreverseengineering,3Dmodeloftheobjectisobtained.Thedataisundertherobotcoordinate,whichCanbeusedtoprocessdirectly.KeyWords:Laserremanufacturingtechnology;machinevision;laserscanning;industrialrobots;robotcalibr
7、ation;imageprocessing;3Dreconstruction目录第一章绪论⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯。11.1激光再制造技术⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯.11.2工业机器人的发展及应用⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯..31.3双目立体视觉⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯。41.4激光机器人智能加工系统及组成⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯
此文档下载收益归作者所有