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Sensors 2017, 17(12), 2886; https://doi.org/10.3390/s17122886

Development and Verification of a Novel Robot-Integrated Fringe Projection 3D Scanning System for Large-Scale Metrology

1,2
,
1,2
,
1,2,3,* , 1,2
and
1,2
1
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
2
Shanghai Key Laboratory of Advanced Manufacturing Environment, Shanghai 200030, China
3
State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
*
Author to whom correspondence should be addressed.
Received: 5 November 2017 / Revised: 6 December 2017 / Accepted: 7 December 2017 / Published: 12 December 2017
(This article belongs to the Special Issue Smart Sensors for Mechatronic and Robotic Systems)
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Abstract

Large-scale surfaces are prevalent in advanced manufacturing industries, and 3D profilometry of these surfaces plays a pivotal role for quality control. This paper proposes a novel and flexible large-scale 3D scanning system assembled by combining a robot, a binocular structured light scanner and a laser tracker. The measurement principle and system construction of the integrated system are introduced. A mathematical model is established for the global data fusion. Subsequently, a robust method is introduced for the establishment of the end coordinate system. As for hand-eye calibration, the calibration ball is observed by the scanner and the laser tracker simultaneously. With this data, the hand-eye relationship is solved, and then an algorithm is built to get the transformation matrix between the end coordinate system and the world coordinate system. A validation experiment is designed to verify the proposed algorithms. Firstly, a hand-eye calibration experiment is implemented and the computation of the transformation matrix is done. Then a car body rear is measured 22 times in order to verify the global data fusion algorithm. The 3D shape of the rear is reconstructed successfully. To evaluate the precision of the proposed method, a metric tool is built and the results are presented. View Full-Text
Keywords: large-scale metrology; robot integrated system; structured light profilometry; hand-eye calibration; global data fusion large-scale metrology; robot integrated system; structured light profilometry; hand-eye calibration; global data fusion
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Du, H.; Chen, X.; Xi, J.; Yu, C.; Zhao, B. Development and Verification of a Novel Robot-Integrated Fringe Projection 3D Scanning System for Large-Scale Metrology. Sensors 2017, 17, 2886.

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