激光机器人待加工零件三维扫描测量

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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⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯