基于条纹式激光传感器与机器人的扫描成像系统

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。

Scanning imaging system based on stripe type laser sensor and robot

A system solutions was proposed that utilized the platform composed of stripe type laser sensor and industrial robot for scanning and detecting workpiece, imaging for its contour as well. Stripe type laser sensor obtained the three-dimensional point cloud data of the workpiece contour by scanning in movable way. Then combined with the specific algorithm, point cloud data was dealt with through denoising, interpolation processing, which made the point cloud data reflect the objective morphology of artifacts more truly. Finally according to the information of point cloud data, binary images of the workpiece contour was generated. In the experiment, the precision of imaging can reach to 0.1 mm. Thereby, imaging, detection and location for the workpiece are realized instead of traditional CCD camera in some special industrial occasions, solving the problem that traditional CCD is lack of anti-interference ability.