摘 要

随着现代打算机手艺的迅速起色和进步，打算机三维造型的手艺十分是逆向工程手艺在产业手艺上我们已经得到了充分的显现和广泛的应用。为了办理机器人外部支架难以精准衡量的问题，本文章研讨了机器人外部支架样式的逆向工程造型方法，并对逆向工程观点、方法进行体系的阐述。通过光学扫描仪的非接触衡量获取机器人支架皮相的云状数据,并且利用Imageware和geomagic软件对衡量的数据进行优化处理,且在NURBS曲面重构理论的来源根基上进行扫地机器人外壳支架造型皮相重构,最后实现了扫地机器人外壳支架的曲面重构，产生机器人支架的三维本相及三维图。相比较守旧的正向策划措施,这种措施不仅升高了工作功率,而且收短了新产物的开导周期。仿制与仿造行业已经成为了我国一些企业的稳固的生产办法，现在一些针对市场热门产物的仿造品司空见惯，逆向工程的非常广泛的应用在其中起到了决定性的感化。于是，经常有人将逆向工程和不法仿造联系在一起，这是不对的，也是不可取的，甚至建议了常识产权保护等法律层面的问题。实际上呢，逆向工程代表着一种非常高效的产物策划方法和思路。本文从逆向工程策划的基本观点开始，仔细讲述了现代创造业中逆向工程的基本观点以及逆向工程在模具创造这些行业中的感化。

Non contact measurement and 3D reconstruction of robot rack for sweeping

With the rapid development of modern planning machine technology and progress, we intend to machine three-dimensional modeling technology is reverse engineering technology in the industrial technology, we have been fully shown and widely used. In order to solve the problem of difficult to measure the external support of robot, this paper discusses the reverse engineering modeling method of robot external support, and describes the view and method of reverse engineering. Through the non-contact measurement of optical scanner, the cloud data of the robot bracket is obtained, and the measured data are optimized with imageware and geomagic software, and the surface of the floor is reconstructed by NURBS surface reconstruction theory. finally, the surface reconstruction of the floor support of the sweeping robot is realized, and the 3d phase and three-dimensional diagram of the robot bracket are generated. Compared with the conventional forward planning measures, this measure not only increased the working power, but also shortened the enlightenment cycle of the new product. Imitation and imitation industry has become a stable production method for some enterprises in China, and some imitations of the market hot products are common, and the very wide application of reverse engineering plays a decisive role in it. As a result, it is wrong and undesirable to link adverse works and illegal imitations together., even the legal aspects such as protection of common sense property rights protection are even suggested. In fact, reverse engineering represents a very efficient method and idea of product planning. Starting from the basic point of reverse engineering planning, this paper discusses the basic viewpoints of reverse engineering in modern creative industry and the influence of reverse engineering in mold creation.

Key words:Reverse Engincontact measurement Point Cloud;

目 录

1 绪 论 1

1.1引言 1

1.2课题建立的背景及意义 1

1.2．1逆向工程在我们国内外研讨状况 2

1.2.2逆向工程的道理及特点 2

1.2.3逆向工程概述及分类 3

1.2.4课题的目的及意义 4

1.3研讨内容 4

本章总结 4

2逆向工程软硬件设置 5

2.1扫描设置 5

2.2点云处理软件 6

2.3曲面处理软件 7

2.4实体建模软件 8

2.5实体三维数据的扫描 9

本章总结 9

3 三维扫描行程及图像阐明 10

3.1三维光学衡量仪的操作设施� 10

3.4 如何标定摄像头 11

3.5 硬件标定 11

3.6 三维扫描仪简介 11

3.7 三维扫描仪的标定 11

3.8 标定方法 12

3.9 拼接 22

3.10 曲面重构 23

3.11 实体造型 24

3.12 数据导入 25

本章总结 25

4三维立体图的制作及打印 26

4.1 工业设计 26

4.2 产品设计 26

4.3 仿真、确认和优化 27

4.4 模具设计 27

4.5 3D打印机打印操作 28

本章总结 30

结 论 31

1.物件的测量技巧 31

2.拼接的方法 32

3.针对塑料类零件的扫描方法。 32

4.三维数模的作用 33

致 谢 34

参考文献 35

1 绪 论

1.1引言

逆向工程(Reverse Engineering)是根据现有实物本相的衡量数据归纳出部件的策划观点和CAD本相，逆向工程的感化就是消化吸收并且改革我们国内外的先进手艺，飞快赶上并且超过全世界先进生产手艺程度、赢得市场竞争，作为近年来飞快起色的飞快策划机械创造手艺的重要分支，还可以大幅度缩短产物创造周期，这样就可在机械创造规模得到了广泛的应用。

非接触衡量手艺简介：

非接触衡量方法的介绍：非接触衡量是以光电、电磁、超声波等手艺为来源根基，在仪器的感受原件不与被测物体皮相接触的情状下，得到物体皮相参数新闻的衡量方法。

非接触衡量方法的分类：