中文摘要：

为了使机器人准确高效地完成复杂形貌零件修复，开发了一套基于三维视觉的激光再制造机器人离线自动编程系统。系统主要包含6个功能模块：机器视觉测量、三维建模、再制造规划、自动编程、仿真优化和通信模块。基于HALCON软件采用标准标定板进行视觉系统的标定，应用梯度重心法对采集到的激光光条图像进行光条中心提取，依据极限几何理论进行特征匹配，根据三角原理获取零件表面点云数据。然后逆向重建零件三维模型并提取出修复区域，根据工艺规划参数，自动进行再制造路径规划和机器人加工程序编制，并通过机器人主控方式实现多个设备之间的联动和时序控制。试验表明，该方法能提高激光再制造机器人编程效率和精度，且机器人动作连贯，修复路径与设计吻合，满足零件修复要求。

英文摘要：

Off-line automatic programming system of laser remanufacturing robot based on 3D vision is developed in order to repair the complex parts accurately and efficiently. The system mainly consists of six functional modules; machine vision measurement, 3D modeling, remanufacturing planning, automatic programming, simulation and optimization, and communication module. It applies standard calibration plate to carry out calibration based on HALCON software, and uses gradient gravity method to extract laser stripe center precisely, and carries on feature matching lastly on the basis of limit geometric theory. Parts＇ point cloud data is obtained according to the triangulation principle. Then reconstructing parts and extracting the 3D model of the repair area are done, remanufacturing path planning and robot control program generation are executed automatically in the light of the parameters of process planning. Linkage between multiple devices and timing control are implemented with robot master mode. Tests show that robot action is coherent, and repair pathway is consistent with the design by using this method, which can improve efficiency and accuracy of robot programming and meet parts＇ repair requirements.