Research on Path Planning Technology of a Line Scanning Measurement Robot Based on the CAD Model
Abstract
:1. Introduction
2. Materials and Methods
2.1. Line Laser Scanner Scanning Measurement
2.1.1. Measuring Principle of the Line Laser Scanner
2.1.2. Measurement Constraints of the Line Laser Scanner
- (1)
- Measurement inclination: the angle between the inverse vector of the normal vector of the surface measurement point and the incident laser line . The angle directly determines whether the laser scanner can receive the reflected light from the surface to be measured. When , the maximum density of surface measurement points can be collected. In practice, cannot exceed the limiting threshold γ; it can be written by the following equations:
- (2)
- Measuring field of view (FOV): the surface measurement point needs to lie within the field of view angle boundary line, i.e., the angle between the scan direction vector and vector is less than half the field of view angle, to ensure that the surface measurement point lies within the effective length of the laser stripe, which is subject to the following conditions:
- (3)
- Measuring depth of field (DOF): the laser scanner can only guarantee the acquisition of a surface measurement point when it is within a certain distance from the surface to be measured, a distance that satisfies the following conditions:
- (4)
- Optimal measurement distance: the distance at which the highest quality surface measurement points can be acquired, which is at half-field depth.
- (5)
- No occlusion constraint: the incident and reflected laser lines of the laser scanner need to be unobstructed. Obstruction of the incident laser line will result in the laser not being able to illuminate the surface to be measured, and obstruction of the reflected laser line will result in the vision sensor not being able to calculate the measurement point data.
- (6)
- Collision-free constraint: during the scanning and measuring process of the part to be measured, collisions between the laser scanner, the robot, and the part must be avoided to prevent damage of the laser scanner or the part to be measured.
2.1.3. Line Laser Scanner Scan Path Composition
2.2. Free-Form Scan Path Planning Method
2.2.1. Adaptive Sampling Method
Adaptive Sampling Methods of Free Curves
Adaptive Sampling Method for Laser Line Scan of Free-Form Surfaces
2.2.2. Scanning Viewpoint Planning Based on Viewable Cones
2.2.3. Quaternion-Based Scanning Attitude Calculation
2.2.4. Scan Path Generation Based on Bi-Directional Scanning
3. Experiments and Discussions
3.1. Simulation of Scanning Measurement Processes
3.2. Robotic 3D Scanning and Point Cloud Reconstruction Experiments
4. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Proposed Method | Equal Arc-Length Sampling Method | Equal Chord-Height Sampling Method | GD Method | |
---|---|---|---|---|
Simulation measuring time | 30.02 s | 33.26 s | 30.29 s | 137.57 s |
Experimental measuring time | 32.52 s | 30.85 s | 30.83 s | 140.71 s |
Maximum deviation | 0.071 mm | 0.130 mm | 0.096 mm | 0.075 mm |
standard deviation | 0.022 mm | 0.028 mm | 0.026 mm | 0.024 mm |
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Jia, H.; Chen, H.; Chen, C.; Huang, Y.; Lu, Y.; Gao, R.; Yu, L. Research on Path Planning Technology of a Line Scanning Measurement Robot Based on the CAD Model. Actuators 2024, 13, 310. https://doi.org/10.3390/act13080310
Jia H, Chen H, Chen C, Huang Y, Lu Y, Gao R, Yu L. Research on Path Planning Technology of a Line Scanning Measurement Robot Based on the CAD Model. Actuators. 2024; 13(8):310. https://doi.org/10.3390/act13080310
Chicago/Turabian StyleJia, Huakun, Haohan Chen, Chen Chen, Yichen Huang, Yang Lu, Rongke Gao, and Liandong Yu. 2024. "Research on Path Planning Technology of a Line Scanning Measurement Robot Based on the CAD Model" Actuators 13, no. 8: 310. https://doi.org/10.3390/act13080310
APA StyleJia, H., Chen, H., Chen, C., Huang, Y., Lu, Y., Gao, R., & Yu, L. (2024). Research on Path Planning Technology of a Line Scanning Measurement Robot Based on the CAD Model. Actuators, 13(8), 310. https://doi.org/10.3390/act13080310