摘要
提出了一种基于结构光三维视觉的再制造工件测量及重建方法。采用安装在机器人末端的结构光三维视觉传感器进行测量,给出了传感器的标定方法。控制机器人运动,使激光扫描整个工件表面,结合机器人末端位姿和传感器参数,可计算出扫描线上每个点的机器人基坐标系坐标,即获得了整个工件表面的三维坐标。对所获取的工件表面的轮廓测量数据,用B样条曲面拟合,给出了截面数据的B样条拟合算法。生成的再制造工件曲面,可以直接输入至离线编程系统,对再制造进行离线规划,并给出了轴类工件的算例。
A method of remanufacturing workpieces measurement and reconstruction based on structured light stereovision is proposed. A structured light scanner is mounted on the end-effector of the robot and scanned across the workpiece for data collection. Through the position and pose of the end-effector with the parameters of the sensor, which can be obtained easily using a simple calibration method provided in this paper,3D coordinates in the basal coordinate of the robot are calculated by stereovision. The data obtained are digitized data organized in sections. The method of knot vector determination in the processs of surface fitting is presented and the algorithm of B-spline surface fitting for profile data is given. The surface obtained can be sent to the off-line system to generate off-line program. Finally, the method mentioned above is applied to remanufacturing piece.
出处
《焊接学报》
EI
CAS
CSCD
北大核心
2005年第8期12-15,共4页
Transactions of The China Welding Institution
基金
国家自然科学基金资助项目(50235030)
关键词
结构光
立体视觉
曲面重建
再制造
structured light
stereovision
surface reconstruction
B-spline
remanufacture