On-Line 3D reconstruction based on laser scanning for robot machining of large complex components

Abstract

The digital model is the foundation of intelligent manufacturing based on robot machining. In the intelligent manufacturing of large complex components in the fields of aerospace, energy equipment, shipbuilding, etc., it is often necessary to perform online 3D reconstruction of these large-sized components. In response to this demand, this paper designs a large-scale on-line 3D reconstruction system based on laser scanning principle. A laser scanner is used to generate the contour of the component accurately. Then, a series of contour sequences are generated by the movement perpendicular to the direction of the contour plane. These contour sequences are processed by algorithms to generate the 3D point cloud model of the large complex component. The results show that the system can generate the 3D point cloud model of large-scale complex components in an on-line manner and provide the basis for the detection of the components before machining and the machining planning in some cases.