Research And Implementation Of Path Planning Algorithm For Robotic 3D Areal Scanners

With the widespread use of complex surface in product design,the detection of workpieces with complex surface has become more and more important.The traditional detection method of complex surface is measured by coordinate measuring machines.The detection speed of this method is too slow to meet the needs of industrial measurement.The combination of surface scanning technologies and industrial robot technologies can effectively improve the measurement efficiency.But,at present,the online programming is widely used,and the quality of program depends too much on the operation level of the operator.To solve above problems,this project mainly improved the method of surface scanning measurement path planning based on the CAD model of measured objects and the automatic scanning measurement of measured objects based on the offline programming.The main researches in this thesis are as follows:(1)Read the CAD model file and display it in the triangular mesh.(2)An algorithm based on triangle mesh segmentation for the surface detection is given in this thesis.(3)The measurement path planning of the surface scanning robot is implemented.A direction bounding box is used to recursively segment the curved surface area,and the scanning cone of the area scanning probe should surround the direction bounding box of the surface block completely.Then the direction bounding box could be used to determine the position of the surface scanning viewpoint and the pose of the scanning probe;With the traveling salesman algorithm,the shortest detection path planning of the surface scanning measurement robot is got;Finally,the scanning path is converted into a file which can be read by the robot.Input the file into the robot controller,and the scanning probe is driven by the robot to realize the automatic measurement of complex curved surfaces.