The Software Design Of Multi-axis Scanning System

Based on line structured light sensor, multi-axis scanning system is applied to realize the automatic scanning, measurement and estimation of small and medium-sized workpiece, which is an integrated simulation platform combined with mechanical, electrical, system modeling, information processing, software development and other technologies. This paper focuses on software development, and key technologies such as data processing, laser scanning, control technology and three-dimensional display technology are applied to the project and discussed respectively.Orthogonal structure was designed as the basic framework of the machine system in the experimental platform. Two orthogonal rotating arms with line structure light sensor were installed on the three dimensional structure end, witch can finish rotary and translational motion along with it. The advantage of this system is the improved flexibility with reduced blind area, and the ability to simulate conventional scanning system more effectively. The robotic D-H matrix modeling approach was adopted by system modeling. Through the calibration of hand-eye transformation between line structured light and the terminal of the basic machine, the detection model of the scanning system was build.The development of software system is an important part in this paper. It mainly includes motion control module, data acquisition module, processing and management module, the algorithms library module, image processing module, and 3D display module. The system is based on the MFC(Microsoft Foundation Class) development platform to build software framework and adopt the object-oriented method to design the key module of the software. Through the communication between control computer and slave computer based on a serial port, the motion control module can realize the manual, automatic process control and other kinds of motion control functions. Data acquisition module, processing and management module are designed to realize the acquisition and extraction of measuring data, transformation the algorithm of data model, management of data information and other functions. The designation of algorithms library module is mainly to achieve the calibration and model transformation of algorithm. In regard to the image processing module, in order to realize extraction of the laser stripe center, algorithms library of OpenCV was used mainly to process the linear structured light images.3D display module uses function library of OpenGL to realize the display and operation of point cloud data.Experiments show that the software system is able to stably accomplish the requirements including manual or semi-automatic scanning motion control, data processing, management and display. Furthermore, it forms an effective system operation mechanism and software system. On the one hand, the results in this paper provide an experimental platform for scanning development. And on the other hand, it provides an experimental basis and platform framework for further research of algorithm validation and automatic planning study of the scanning path.