论文部分内容阅读
提出了一种以条纹式激光传感器和工业机器人为平台对工件进行扫描检测并对其轮廓进行成像的系统方案。条纹式激光传感器移动式扫描工件获取工件轮廓的三维点云数据,然后结合特定的算法对点云数据进行去噪、插值、插补处理,使得点云数据能更加真实地反映工件的客观形貌,最终根据点云数据的信息生成工件轮廓的二值化图像。在实验中成像精度能达到0.1 mm级,从而在某些特殊的工业场合替代传统的CCD相机实现对工件的成像及检测定位,解决了传统CCD的抗干扰能力不足的问题。
A system scheme based on stripe laser sensor and industrial robot is proposed to scan and contour the workpiece. The stripe laser sensor can scan the workpiece movably to obtain the 3D point cloud data of the workpiece contour. After that, the point cloud data can be denoised, interpolated and interpolated according to the specific algorithm, so that the point cloud data can more accurately reflect the objective appearance of the workpiece Finally, a binarized image of the workpiece contour is generated based on the information of the point cloud data. In the experiment, the imaging accuracy can reach 0.1 mm, so as to replace the traditional CCD camera in some special industrial occasions to realize the imaging and detection of the workpiece, which solves the problem of the lack of anti-interference ability of the traditional CCD.