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A 3D reconstruction method of complex large component robot surface scanning

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

Active Publication Date: 2021-02-02
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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  • A 3D reconstruction method of complex large component robot surface scanning
  • A 3D reconstruction method of complex large component robot surface scanning
  • A 3D reconstruction method of complex large component robot surface scanning

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Embodiment 1

[0090] 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 Basler acA1920-40gm industrial cameras with 12mm lenses. The projector is DLPLightcrafter 4500 projector of TI company, the projection resolution is 912×1140, the projection waveband is 420-720nm, and the working range is 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.

[0091] After the system is set up, the calibrat...

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Abstract

The invention discloses a face-scanning three-dimensional reconstruction method of a complex large-component robot, which belongs to the technical field of three-dimensional shape measurement. Firstly, the gray coded image combined with the structured light encoding method of phase shift is used to measure the three-dimensional shape of the area array; then the three-dimensional shape measurement system of the area array is combined with the industrial robot to perform system calibration; finally, the collected point cloud data is calibrated. Processing, rough splicing and fine splicing processing. The surface-scanning three-dimensional reconstruction method of the large-component robot of the present invention can realize high-speed and high-precision three-dimensional shape measurement of large objects.

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 Patents(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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