Research On 3D Model Reconstruction System For Additive Remanufacturing

At present,most of the domestic research on repair and remanufacturing with laser cladding technology and theory for the process focuses on the research of technology and theory for the process,and the research on system for remanufacturing with laser cladding is still in its infancy.In this paper,on the mobile robot multifunctional laser processing system,combined with the multi-frequency heterodyne phase shift technology and the principle of binocular structured light reconstruction,the research and design of the 3D reconstruction system of the laser cladding robot are carried out:According to the structure and function characteristics of the now available laser cladding robots,a suitable camera,lens,and projector are selected,and the multifrequency heterodyne phase shift method was analyzed and chose as the phase unwrapping algorithm for 3D reconstruction,to carry out 3D reconstruction system for the laser cladding robot.Construct a suitable camera model and hand-eye calibration model for the 3D reconstruction system of the laser cladding robot,study and derive the relationship between the various coordinate systems of the entire system,and the corresponding camera calibration experiments and hand-eye calibration experiments were designed.The calibration accuracy was verified through different camera calibration experiments,and the error of the two calibration results was obtained within dozens of pixels;by eliminating the conflicting image pairs,the average error of the hand-eye calibration experiment results was reduced by one tenth successfully,and the camera internal and external parameter matrix and hand-eye transformation matrix were finally obtained.The average error of the translation vector was 1.450 mm,the average error of the rotation matrix angle is 0.232°,and the camera calibration error is 0.1946 pixels.Construct a suitable binocular imaging model for the 3D reconstruction system of the laser cladding robot.According to the fitting negative exponential phase unwrapping algorithm,five stripes with frequencies of 1,4,16,32,and 128 frequencies are selected,and 4 images are collected in the first four frequencies.And 8 images are gathered in 128 frequencies to avoid the precision error caused by the drop of high frequency stripe sinusoidal information.The metal substrate test verifies the applicability of three-dimensional reconstruction of metal parts with complex surface conditions.Perform three-dimensional reconstruction experiments on a variety of metal parts,perform volume deviation analysis,and reconstruct a three-dimensional model of the defect.The experimental results show that the system is suitable for a variety of parts in complex situations and has certain feasibility and can meet specific precision requirements.