A density-controllable 3D measurement system based on linear profile sensor and universal manipulator

Abstract

In order to offer a simple and efficient solution for obtaining point clouds, a modular 3D measurement system that incorporates an LPS mounted on a universal manipulator is developed. Unlike the requirement for electronic connections between the LPS and the robot to achieve hard synchronization, we employ a high-low-frequency collaborative strategy for soft synchronization, thereby eliminating the need for complex hardware synchronization modules. Since soft synchronization lacks the high-speed synchronous data acquisition of hard synchronization, we have also proposed an interpolation method on low density data to generate uniform higher-density point clouds, thus enabling a density-controllable point clouds acquisition approach. Experimental results demonstrate the effectiveness and versatility of the system.