Research And Develop On The Simulating System For Binocular Stereo Measurement

Accuracy and efficiency of manufacture are of particular importance in morden manufacturingindustry, while quality control and production process optimization are catching more attentions. Asan effective way of quality test,3D shape measurement is playing a significant role in productdevelopment, manufacturing and assembling. Binocular stereo vision measurement systems witharea-array cameras are widely used because of their heigh accuracy, good flexibility and capability ofacquiring dense point data of object surface. However, the manual operation of these systems is timeconsuming and slowes down the production process. For this reason, inspection cells with industrialrobots to hold and move the measurement sencers are developed. Measurement planning methods arestudied in this paper so as to increase the efficiency of these inspection cells. The method ofinteractive measurement planning is presented and a simulating system is developed.The main contents and achievements of this paper are as follows.1. The theories of binocular stereo vision measurement are studied. The measurement simulatingalgorithm is presented based on the four imaging constraints, namely visibility, field of view, viewingdistance and occlusion. Experiments are designed to adjust system parameters in order to enhance thesimulating effect.2. By study of robot kinematics, both forward and inverse kinematic problems are solved for aparticular type of industrial robot. The collision detection algorithm is put forword based on boundingvolume hierarchy, oriented bounding box and Separating Axis Theorem.3. A3D graphic system is developed to simulating the binocular stereo measurement process. Thissystem is capable of generating measured areas on an object CAD-model and providing flexible robotmovement simulation. By use of this system, users can efficiently accomplish the measurementplanning precess by interactive operation.4. Experiments are carried out by using a real inspection cell and the simulating system. Thecomparison between the actual inspection result and the measure simulating result on a complexsurface demonstrates that the proposed algorithm and experiment-based parameter adjustment methodcan accurately simulate the real measurement. Final experiment demonstrates that the system ispractical and efficient in measurement simulating and planning.