Scanning method of robot-3D scanner system and its industrial application

摘要

A robot-3D scanner system composed of a portable 3D laser scanner and a 6-DOF(Degree of Freedom) robot,can acquire the 3-D information of the object surface from multiple angles and directions.For different combining ways of the portable 3D laser scanner and the robot,a new calibration approach for determining the pose of the scanner and the robot is proposed.By using a criterion sphere with known diameters as calibration tool,the rotation matrix and translation vector of the 3D laser scanner relative to the robot can be determined by fitting the circle produced by the cross of laser line and sphere and fitting the whole scanning data of sphere,respectively.Therefore,the 3D laser scanner can cooperate with the robot to acquire the 3D information of object’s surface.Meanwhile,the scanning data obtained by using this robot-3D scanner system can be used for industrial machining,which can realize the integration of on-line measurement and machining procedures.The application of scanning and machining the edge of a guitar are also given to demonstrate the effectiveness and high precision of the system.