基于面结构光的工件内壁点云旋转拼接研究

针对某些工件内部空间有限、测量困难的问题，提出了一种基于面结构光的点云旋转拼接方法。介绍了面结构光单一视野的重建方法，采用四步相移与互补格雷码结合的方法获取绝对相位值，通过多项式拟合法对相机、投影仪进行标定。基于机械臂末端腕关节旋转平面（简称:旋转平面）对点云的配准进行了研究，提出了基于辅助相机的标定方法，给出了相机成像坐标系和旋转平面坐标系之间的变换关系。实验结果表明:该方法适用于工件内壁测量，拼接平均误差不大于0.05 mm，满足实际应用需求。

Research on rotating splicing of point cloud in workpiece wall based on surface structured light

In order to solve the problem of limited internal space and difficult measurement of some workpiece, a point cloud rotating splicing method based on surface structured light was proposed. The reconstruction method of single field of surface structured light was introduced in this paper. The absolute phase value was obtained by combining four-step phase shift and complementary Gray code, and the camera and projector were calibrated by polynomial fitting method. The point cloud registration was studied based on the rotation plane of the wrist joint at the end of the manipulator. A calibration method based on the auxiliary camera was proposed, and the transformation relationship between the camera imaging coordinate system and the rotation plane coordinate system was given. The experimental results show that the method is suitable for measuring the inner wall of workpiece, and the average error of splicing is less than 0.05 mm, which meets the requirements of practical application.