On Key Technologies Of Rapid Remanufacturing Prototyping System Based On Vision Measurement

The remanufacturing for damaged workpiece is to recover its geometry size and surface performance via cladding material on damaged region. The damaged workpiece can't be repaired via fixed procedure as it is of various state of surface. The existing approaches to repair the damaged workpiece are usually based on teaching and manual. The application of advanced measuring technology is one of tendencies to improve the intelligent and automatic level of remanufacture. In this dissertation, the application of vision measurement in remanufacturing engineering is studied. A rapid remanufacturing prototyping system based on structured light vision and robotics is designed. The main contents are listed as follows:1. The mathematic model of measuring robot based on structured light is established. A rapid remanufacturing prototyping system based on measuring robot and arc welding robot is studied by establishing its mathematic model.2. The calibration problems of the rapid remanufacturing prototyping system, which include structured light sensor calibration, hand-eye calibration, tools coordinate and the relationship between measurement coordinate system and restore coordinate system, are studied. A novel experimental scheme for measuring robot calibration is given. A scheme for synchronous calibration of tool coordinates calibration, the relationship of measuring coordinate system and restore coordinate is presented.3. A registration method for damaged region inspection is developed. The registration process consists of initial and precise registration. Principal component analysis is applied in initial registration stage and iterative closest point is employed in precise registration. The damaged region is determined by the registration errors. Then, the damaged region can be described by a series of lines, and the restore path can be made by cutting plane and convex hull.4. The method for detecting the center of structured light strip is studied. In order to improve the measuring speed, an embedded system for structured light image processing based on DSP is designed. Experiments show that the real-time performance of the system is improved obviously. 5. The real rapid remanufacturing prototyping system based on structured light vision and arc welding robot is built. Then, the effectiveness of the presented system is demonstrated by some real experiments.Finally, summary of the whole work and the future work are made.