Structured Light Stereo Vision System Coupled with Laser Remanufacturing Robot

Abstract

In vision system of laser remanufacturing robot, binocular stereovision system combining structured light technique is used, Which applies to measure Laser Remanufacturing workpieces. The vision system which includes two cameras, a laser balopticon and a computer is fitted on the bottom of the robot, and its position is controlled by robot teach pedant. The image collected by cameras is transferred to a computer. Calibration and matching is the key to the work of the visual system. Calibration, including camera calibration and robot hand-eye calibration, is completed by MATLAB programming. The method of combining structured light with binocular stereo vision system is studied: let line structured light scanning the surface of the work piece, collect image, extract sub-pixel center of structured light by gravity algorithm and complete the image matching by epipolar geometry constraint relations. The process can be completed by MATLAB. The results of the 3D measurements of the work piece show that the system can make the robot recognize the defects and the shape of the work piece automatically, so that the vision system can satisfy the requirements auto-detection remanufacturing.