title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÑÑÑÐ¾Ð¹ÑÑÐ²Ð° 3D- ÑÐºÐ°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Ð¼ÐµÑ Ð°Ð½Ð¸ÐºÐ¸ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½Ð¾Ð³Ð¾ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ°
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Development of 3D scanning device using the mechanics of an industrial manipulator
Creators: name: Ð¥ÑÑÐ½ÑÑÐ´Ð¸Ð½Ð¾Ð²Ð°, Ð­Ð»Ð¸Ð½Ð°
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2022
Subjects: 3D-ÑÐºÐ°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
Ð»Ð°Ð·ÐµÑÐ½Ð°Ñ ÑÑÐ¸Ð°Ð½Ð³ÑÐ»ÑÑÐ¸Ñ
ÐºÐ°Ð»Ð¸Ð±ÑÐ¾Ð²ÐºÐ° ÐºÐ°Ð¼ÐµÑÑ
Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐ¹ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾Ñ
3D scanning
laser triangulation
camera calibration
industrial manipulator

description: Ð¢ÐµÐ¼Ð° Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ: Â«Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÑÑÑÐ¾Ð¹ÑÑÐ²Ð° 3D-ÑÐºÐ°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Ð¼ÐµÑÐ°Ð½Ð¸ÐºÐ¸ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½Ð¾Ð³Ð¾ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ°Â». ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ ÑÑÑÑÐ¾Ð¹ÑÑÐ²Ð° 3D-ÑÐºÐ°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Ð¼ÐµÑÐ°Ð½Ð¸ÐºÐ¸ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½Ð¾Ð³Ð¾ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ð´Ð»Ñ Ð·Ð°Ð´Ð°Ñ Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ñ Ð½ÐµÑÐ¾Ð²Ð½Ð¾ÑÑÐµÐ¹ Ð¿Ð¾Ð²ÐµÑÑÐ½Ð¾ÑÑÐ¸ Ð¸ Ð´ÐµÑÐµÐºÑÐ¾Ð² Ð¸Ð·Ð´ÐµÐ»Ð¸Ð¹ Ð½Ð° Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´ÑÑÐ²Ðµ. Ð ÑÐ¾Ð´Ðµ ÑÐ°Ð±Ð¾ÑÑ ÑÐµÑÐ°Ð»Ð¸ÑÑ ÑÐ»ÐµÐ´ÑÑÑÐ¸Ðµ Ð·Ð°Ð´Ð°ÑÐ¸:1.Â Â Â ÐÑcÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² 3D-ÑÐºÐ°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ2.Â Â Â  Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð°ÑÑÐ¸ÑÐµÐºÑÑÑÑ ÑÐ¸ÑÑÐµÐ¼Ñ 3D-ÑÐºÐ°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð¸ Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ðµ ÐµÐµ Ð¾ÑÐ½Ð¾Ð²Ð½ÑÑ ÑÐ°ÑÑÐµÐ¹3.Â Â Â  Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° Ð¿Ð¾Ð»ÑÑÐµÐ½Ð¸Ñ Ð¸ Ð¾Ð±ÑÐ°Ð±Ð¾ÑÐºÐ¸ Ð´Ð°Ð½Ð½ÑÑ Ð¾Ð± Ð¾Ð±ÑÐµÐºÑÐµ ÑÐºÐ°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ4.Â Â Â  ÐÐ½ÑÐµÐ³ÑÐ°ÑÐ¸Ñ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½Ð¾Ð³Ð¾ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ð² ÑÐ¸ÑÑÐµÐ¼Ñ Â Ð ÑÐ¾Ð´Ðµ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ»Ð¸ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ: ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ðµ Ð¼ÐµÑÐ¾Ð´Ñ 3D-ÑÐºÐ°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ, ÑÐ°ÑÐ°ÐºÑÐµÑÐ¸ÑÑÐ¸ÐºÐ¸ Ð¾ÑÐ½Ð¾Ð²Ð½ÑÑ ÑÐ°ÑÑÐµÐ¹ ÑÐ¸ÑÑÐµÐ¼Ñ, Ð³ÐµÐ¾Ð¼ÐµÑÑÐ¸Ñ Ð¼ÐµÑÐ¾Ð´Ð° Ð»Ð°Ð·ÐµÑÐ½Ð¾Ð¹ ÑÑÐ¸Ð°Ð½Ð³ÑÐ»ÑÑÐ¸Ð¸. ÐÑÐ»Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° Ð°ÑÑÐ¸ÑÐµÐºÑÑÑÐ° ÑÐ¸ÑÑÐµÐ¼Ñ 3D-ÑÐºÐ°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Ð»Ð°Ð·ÐµÑÐ° Ð½Ð° Ð±Ð°Ð·Ðµ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½Ð¾Ð³Ð¾ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ð¸ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼ Ð¿Ð¾Ð»ÑÑÐµÐ½Ð¸Ñ Ð¸ Ð¾Ð±ÑÐ°Ð±Ð¾ÑÐºÐ¸ Ð´Ð°Ð½Ð½ÑÑ Ð¾Ð± Ð¾ÑÑÐºÐ°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ð¼ Ð¾Ð±ÑÐµÐºÑÐµ.Â Â Â 
description: The subject of the graduate qualification work is "Development of a 3D scanning device using the mechanics of an industrial manipulator". This work is devoted to the development of a 3D scanning device using the mechanics of an industrial manipulator for the tasks of determining surface irregularities and product defects in production.The following tasks were solved during the work:Â Research of 3D scanning methods.Â Architecture development of the 3D scanning system and definition of its main partsDevelopment of an algorithm for obtaining and processing data about the scanned objectIntegration of industrial manipulator into the systemIn the course of the work, the following were considered: existing methods of 3D scanning, characteristics of the main parts of the system, geometry of the laser triangulation method. The architecture of a 3D scanning system using a laser based on an industrial manipulator and an algorithm for obtaining and processing data about a scanned object were developed.