Remanufacturing Oriented Research On The Robotic 3D Surface Inspecting System With Vision Measturement

For making the remanuaturing system to be more intelligent, the robotic and laser sanning technologies are combined and an integrated robotic remanfacturing system with 3D surface inspection function is presented so that the closed-loop remanufacturing process is implemented. Some key technologies and theory are researched and some application results are given in the thesis. The main works are summarized as follows:1. The mathematical model of the robotic inspecting system with vision measurement is established, including the main body model of robot, the mathematical models of line structured light vision sensor and the whole system models.2. The mathematical models of the robotic inspection system are estabilshed, which include dynamic model of the robot body, model of the vision sensor and the model of the integrated system.3. The framework of hardware and software of the system are constructed and implemented, which is a feature-rich platform with exensible and friendly interface. The measurement error of the line structured light sensor is taken as optimal performance, and the rubust vision sensor is designed based on the consideration for field environment.4. The field catibration scheme with two steps is presented. First, based on the uniform 2D plane target particular designed and the known position information of the robot, the parameters about the hand-eye relationship are calibrated. Then, the parameters of the laser plane are obtained via the principle of perspective three points and double cross ratio invance.5. A parallel mode of operation of the system is developed. Each time-consuming phase can be executed independently by decoupling the data collection and process using both the public buffer zone and multi-thread technology.6. The management, scheduling and 3D showing schemes for massive data are studied. Also, the registration algorithm between the scanned damaged data and the CAD data is presented.7. The presented robotic 3D inspection system is applied to design a fast repairing system and a coating thickness measurement system, so that the problems of on-line 3D nspection and fast repairing on site are sloved properly.Finally, future work is listed based on the conclusion of whole work.