Measurement and reconstruction for remanufacturing workpieces based on structured light stereovison

A method of remanufacturing workpieces measurement and reconstruction based on structured light stereovision is proposed. A structured light scanner is mounted on the end-effector of the robot and scanned across the workpiece for data collection. Through the position and pose of the end-effector with the parameters of the sensor, which can be obtained easily using a simple calibration method provided in this paper,3D coordinates in the basal coordinate of the robot are calculated by stereovision. The data obtained are digitized data organized in sections. The method of knot vector determination in the processs of surface fitting is presented and the algorithm of B-spline surface fitting for profile data is given. The surface obtained can be sent to the off-line system to generate off-line program. Finally, the method mentioned above is applied to remanufacturing piece.