Research And Application Of A Three-dimensional Measuring System Based On Liner-laser

With the development of science and technology and the continuous progress of production technology,3D laser scanning technology has been used widely in all trades and professions,such as applied to the 3D scanning and model reconstruction of mechanical parts,welding seam detection in welding automation,position navigation and map reconstruction for robot,obstacle detection and aversion and security etc.As an untouched optical measuring method,3D laser scanning has become an important research branch in the field of three dimensional measurement of its efficiency,quick,accuracy and non-contact.In order to overcome the defects of traditional laser scanning measuring system for large volume, high cost, this paper builds a low cost line laser scanning measurement system by pcDuino8 hardware board,microcontroller,line laser transmitter,liquid crystal display,stepper motor and a camera,the system hardware design and software programming are completed.Based on Qt Creator platform,using OpenCV to complete the image processing of the line laser stripe and the coordinate conversion of each point,using OpenGL to realize the reconstruction of the measured object.Aiming at the problem of line laser stripe center extraction,the commonly used laser stripe center detection algorithms are analyzed, the extraction algorithm based on the combination of extreme value method and weighted gray centroid method using threshold iteration is put forward,and the ideal effect of extraction is obtained.Then scanning experiment of multiple objects by using line laser scanning system is carried out,surface are well recovered to verify the accuracy of the scanning system algorithm,and the causes of measuring error of the system from many aspects are analyzed.The line laser scanning measurement system is used as a three dimensional distance measuring sensor and applied to indoor mobile robot three-dimensional obstacle avoidance.In order to further enhance the efficiency of the measurement system,the line laser image processing algorithm is improved.In the indoor environment, the mobile robot obstacle avoidance and navigation experiment are carried out using the obstacle avoidance method which is based on the information of laser stripe on the surface of obstacle, the experimental results validate the feasibility of the scheme.