The Application Research Of Image-based Workpiece Reconstruction In Off-line Programming

As one of the main equipments for intelligent manufacturing,industrial robots are of great significance to China's industrial modernization,industrial transformation and upgrading.This article focuses on the off-line programming technology of industrial robots and applies image-based 3D reconstruction technology to the model acquisition link in off-line programing.Effectively reduce the model acquisition cost,improve model acquisition efficiency,and reduce model acquisition difficulty,thereby further promoting the wide application of robots.The main research contents and results are as follows:First,the basic theories such as camera model,epipolar geometry,and feature tracking are studied.Through the camera model,the mapping relationship between the three-dimensional space points and the two-dimensional image points can be obtained.The epipolar geometry can find the correspondence between the two images.Feature tracking can obtain the position relationship of the same 3D point in different images,which provides a theoretical basis for 3D reconstruction.Secondly,the three-dimensional reconstruction process is divided into four parts:sparse point cloud reconstruction,dense point cloud reconstruction,surface reconstruction,and texture mapping.The focus is on incremental structure from motion algorithm,depth map-based dense point cloud reconstruction algorithm,Poisson surface reconstruction algorithm,texture mapping theory and improve algorithm details.Then developed end-to-end 3D reconstruction software,providing one-click reconstruction and customized reconstruction of parameters,input disordered image sets,and output 3D model in obj format.This article selects the Stanford VSFS dataset,TUM dataset,IVL-SYNTHSFM dataset and Middlebury dataset to reconstruct 3D models,uses the reference model as a benchmark and uses CloudCompare software to analyze the reconstruction results.The results show the cloud-to-mesh distance error is in the order of millimeters,which verifies the feasibility of the reconstruction algorithm in this paper and proves that the 3D reconstruction software developed in this paper can be applied to off-line programming technology.Finally,the reconstructed model is applied to the robot off-line programming,the Kuka KR150 single robot stone sculpture simulation and the Kawasaki BA006N dual robot collaborative stone sculpture simulation are implemented respectively,and the robot processing code is successfully generated.In order to facilitate the actual production and processing,this paper develops a robot monitoring system to realize the functions of parameter reading,status monitoring,program upload and download,three-dimensional simulation and other functions during the processing.