Research on Structured Light 3D Vision in the Remanufacturing System based on Robotic Arc Welding

摘要

Three-dimensional sensing technologies based on computer vision make it possible to rapid establish the three-dimensional model of the worn parts for remanufacturing system. This research design a novel structured light three-dimensional vision sensor for the remanufacturing system based on robotic arc welding. The sensor is mainly constituted of two devices: the MTC-368CB CCD camera and the ML-645 structured light projector. The sensor system can be calibrated by a simple two step calibration method. The three-dimensional sensing experiment and analysis are conducted to verify the feasibility and the practicality of the sensor system by taking a semi-cylinder, a mouse and a calibration block as remanufacturing object. The experiment results indicate that the maximum sensing error is less than 1 mm, which is acceptable for remanufacturing system based on robotic arc welding.