Complex large-component robot surface scanning three-dimensional reconstruction method

A robot surface, 3D reconstruction technology, applied in instrumentation, 3D modeling, image analysis, etc., can solve problems such as phase error, affecting matching results, and large amount of calculation

Active Publication Date: 2020-12-01
南京南暄禾雅科技有限公司
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Problems solved by technology

[0003] The existing technology has a phase error in the measurement process, and in the calculation process, especially in the process of searching for corresponding points, the amount of calculation is very large; when searching for a set of corresponding points, a certain number of wrong corresponding points may be generated, which affects final matching result

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  • Complex large-component robot surface scanning three-dimensional reconstruction method
  • Complex large-component robot surface scanning three-dimensional reconstruction method
  • Complex large-component robot surface scanning three-dimensional reconstruction method

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Embodiment 1

[0091] The large-scale three-dimensional shape measurement system based on surface structured light and industrial robots consists of two parts, namely the industrial robot system and the unit area array three-dimensional measurement system. The industrial robot is Yaskawa ERER-MA02010-A00-C industrial robot. The unit area array 3D measurement system consists of two cameras, lenses and a projector. The camera uses two Baslerac A1920-40gm industrial cameras with 12mm lenses. The projector is a DLP Lightcrafter 4500 projector from TI Company, with a projection resolution of 912×1140, a projection waveband of 420-720nm, and a working range of 0.5-2m. Both the camera and projector support C++ programming control, and both support external triggering. The unit area array 3D measurement system can be fixed at the end of the industrial robot through clamps such as pliers, thus forming a 3D shape measurement system for large components.

[0092] After the system is set up, the cali...

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Abstract

The invention discloses a complex large-component robot surface scanning three-dimensional reconstruction method, and belongs to the technical field of three-dimensional topography measurement. The complex large-component robot surface scanning three-dimensional reconstruction method comprises the following steps of: firstly, carrying out region array three-dimensional morphology measurement by adopting a Gray code coded image combined with a phase-shift structured light coding method; secondly, combining an area array three-dimensional topography measurement system with an industrial robot, and performing system calibration; and finally, processing acquired point cloud data, and performing rough splicing and fine splicing processing. By means of the complex large-component robot surface scanning three-dimensional reconstruction method, high-speed and high-precision large object three-dimensional morphology measurement can be achieved.

Description

technical field [0001] The invention relates to a face-scanning three-dimensional reconstruction method of a complex large-component robot, and belongs to the technical field of three-dimensional shape measurement. Background technique [0002] The three-dimensional measurement of large components based on surface structured light and industrial robots refers to the combination of the three-dimensional measurement method based on encoded surface structured light (area three-dimensional measurement) and industrial robots, so as to realize the three-dimensional shape measurement of large component objects. Since the pure area array 3D measurement method can only measure the 3D shape information on a single surface in a fixed area, by introducing industrial robots, a 3D splicing technology is realized, so that the area array 3D measurement range is not limited to the area of ​​a single measurement format , and can measure the complete three-dimensional shape of a large structur...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/25G06T3/40G06T7/33G06T7/80G06T17/00
CPCG01B11/25G01B11/2504G01B11/2518G06T3/4038G06T17/00G06T2207/10028G06T7/33G06T7/80
Inventor 赵壮韩静陆骏张毅于浩天
Owner 南京南暄禾雅科技有限公司
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