3D Model Reconstruction In Laser Cladding And Remanufacturing Process

With laser technology and3D reconstruction technology andintelligent processing technology rapid development, laser surfacecladding and remanufacturing technology has a very importantapplication in the high and new technology industry, such as aerospace,energy equipment, automobile, shipbuilding and so on. At present in thelaser cladding and remanufacturing process, the point cloud registrationand reconstruction algorithm is still not mature. So research new3Dreconstruction algorithm for laser cladding and remanufacturing processhas important industrial application significance.Based on the understanding of the research works of3Dreconstruction algorithm at home and abroad in recent years, a new pointcloud registration and point cloud3D reconstruction algorithm isproposed by considering the requirement of position and postureparameters for welding robot. In the point cloud registration algorithm,the first registration algorithm is based on point cloud geometricalcharacteristics of curvature and normal vector and the second registrationis based on improved ICP algorithm. And the point cloud3Dreconstruction algorithm is based on scan line. The different perspectivepoint clouds have similar position after first registration and can meetrequirement of ICP algorithm about point clouds position. Then colligatethe advantage of point to point and point to the surface method tocalculate the nearest points and improve ICP registration algorithm. Andsecond register point cloud by this algorithm. In the reconstruction algorithm, the key points in adjacent scanning line which are satisfyconstraint condition was calculated firstly. And reconstructed3D framewas formed by key points. Then add corresponding points between twokey points in each scanning line by equal arc length ratio method toimprove reconstruction accuracy. Finally, reconstruct points cloud byminimum span method.Reconstructed3-D model of one type body mold and a workpiecewith defect after point cloud register and reconstruct process. Thencalculate coordinate difference, standard deviation, maximum deviationof surface points and3-D sizes in both reconstruction model and thestandard model of body mold. Output reconstruction model of body moldand plan cladding path and normalize vector of points to calculate robot’sposition and posture parameters. And get full defect model by subtractionBoolean operation in both reconstruction model and the standard modelof workpiece. Finally, complete laser cladding and remanufacturing testby set appropriate process parameters. The results show this3Dreconstruction method has higher precision and position and can easilycalculate posture parameters for welding robot.