Research On Damage Detection Method Of Mechanical Parts Based On Mobile Robot

Manufacturing industry is the pillar of national economy.Among them,remanufacturing,as a new way of manufacturing,also plays an increasingly important role in the manufacturing industry and has a bright future.The mobile laser remanufacturing robot as a new type of integrated remanufacturing inspection and repair robot can be widely used in a variety of environments for rapid detection,intelligent processing,and recycling of used parts.In this paper,based on the background of remanufacturing,a method of mechanical parts damage detection based on the mobile laser remanufacturing robot is studied.Through the cooperative vision robot of mobile robot,the rapid detection,damage location and damage model reconstruction of parts model can be completed,which provides technical support for the subsequent parts maintenance.The main contents are as follows:(1)Aiming at the computational complexity and collision interference in the scanning detection process of the mobile laser remanufacturing robot,an optimization method for the scanning model and the collision detection and scanning order of the mobile robot is studied.The part skeleton extraction based on Laplace operator is adopted to optimize the skeleton structure,and the model area segmentation based on LBO operator is carried out based on the extracted skeleton.At the same time,the construction of ellipsoid bounding box(MVEE)and layered bounding box for the model and the collision test of two bounding boxes based on the planning path are studied.(2)Aiming at the requirement of high efficiency and accuracy in damage detection of parts,this paper studies the matching method based on binocular vision for damage area detection,compares the matching effect under different primitives,adopts the matching strategy based on boundary element,uses the matching method based on Canny operator,and optimizes the matching method using integral imaging and hierarchical matching respectively.At last,we design a method to collect and process the pictures of the damaged parts by the binocular camera,and finally extract the shape of the damaged boundary and calculate the pixel size of the boundary.(3)Aiming at the requirements of damage model repair,the method of point cloud processing and three-dimensional reconstruction based on feature contour are studied.Based on the extracted skeleton and outline,a three-dimensional model reconstruction method suitable for remanufacturing is established.First,analyze the scanning requirements of the damaged parts and determine the scanning area.A 3D scanner based on structured light is used for point cloud acquisition and optimization.First extract the model and the point cloud skeleton,register the skeleton based on the ICP algorithm,and then register the part model after optimization,design a scanning optimization method for the damaged area,and reconstruct the three-dimensional model of the scanned area.The reconstructed model Used in the formulation of laser remanufacturing and repairing plans.There are 91 figures,15 tables and 80 references in this paper.