机器人—三维扫描系统联合扫描及其工业应用  

Scanning method of robot-3D scanner system and its industrial application

作　　者：李剑峰[1] 朱建华[1] 汤青[1,2] 陈力[1] 徐敏[1] 郭永康[1] 

机构地区：[1]四川大学物理科学与技术学院 [2]廊坊智通机器人系统有限公司,河北廊坊065001

出　　处：《光电工程》2007年第2期15-21,共7页Opto-Electronic Engineering

摘　　要：一种由便携式三维激光扫描仪和六自由度工业机器人组成的机器人-三维扫描系统可以多角度多方位的获取物体表面的三维信息。针对激光扫描系统和机器人的两种不同组合方式,提出了一种新的确定机器人和激光扫描系统位姿关系的标定方法。该方法使用半径已知的球体作为参照工具,利用扫描系统投射出的线激光与球体的相交线拟合圆来恢复球心以及扫描整个球面拟合球心分别标定了扫描仪与机器人的旋转和平移关系,从而使机器人能够与扫描仪一起完成扫描任务。同时,将该机器人-三维扫描系统应用于工业加工中,可以实现在线测量、加工一体化。使用此系统成功地进行了吉他扫描,并利用得到的扫描数据对吉他进行了精确的边缘加工。实验结果证明,该机器人-三维扫描系统具有测量精度高及稳定性好的特点。A robot-3D scanner system composed of a portable 3D laser scanner and a 6-DOF （Degree of Freedom） robot, can acquire the 3-D information of the object surface from multiple angles and directions. For different combining ways of the portable 3D laser scanner and the robot, a new calibration approach for determining the pose of the scanner and the robot is proposed. By using a criterion sphere with known diameters as calibration tool, the rotation matrix and translation vector of the 3D laser scanner relative to the robot can be determined by fitting the circle produced by the cross of laser line and sphere and fitting the whole scanning data of sphere, respectively. Therefore, the 3D laser scanner can cooperate with the robot to acquire the 3D information of object＇s surface. Meanwhile, the scanning data obtained by using this robot-3D scanner system can be used for industrial machining, which can realize the integration of on-line measurement and machining procedures. The application of scanning and machining the edge of a guitar are also given to demonstrate the effectiveness and high precision of the system.

关 键 词：激光测量 机器人视觉 便携式三维激光扫描系统 标定 工业加工 

分 类 号：TP851[自动化与计算机技术—检测技术与自动化装置]