Rapid three-dimensional reconstruction method for welded elbow with flanged joint

• Main Authors: ZHAO JIBIN, XIA RENBO, ZHAO LIANG, ZHANG TIANYU, FU SHENGPENG, CHANG WEN-RUEI, CHEN YUELING
• Format: Patent
• Language: Chinese; English
• Published: 18.06.2024
• Subjects: CALCULATING; COMPUTING; COUNTING; ELECTRIC DIGITAL DATA PROCESSING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS

The invention relates to a rapid three-dimensional reconstruction method for a welded elbow with a flanged joint. The method comprises the following steps: respectively carrying out global calibration and dual-target calibration on multiple cameras at the top of a system and cameras below the system by means of a flexible target; a global calibration result and a binocular calibration result are unified to a robot coordinate system through hand-eye calibration, and then all cameras strictly and synchronously collect images of the welded elbow with the flanged joint placed on the backlight source; a plurality of cameras at the top of the system and a camera below the system perform three-dimensional reconstruction on the center line of the elbow and the mounting hole site of the flange respectively, a three-dimensional reconstruction result is converted to a robot coordinate system, plane fitting and circle fitting are performed on the mounting hole site of the flange, and an end face flange model is establish