采用点云分区统计的成捆棒材端面定位方法
End Face Positioning Method for Bundled Bars by Using Point Cloud Partition Statistics
张付祥 1孙和盛 1黄永建 2黄风山1
作者信息
- 1. 河北科技大学机械工程学院 石家庄 050017
- 2. 河钢集团石家庄钢铁有限责任公司 石家庄 050031
- 折叠
摘要
针对成捆棒材端面贴标过程中出现的端面中心位姿测量难度大、效率低等问题,提出一种基于点云分区统计的成捆棒材端面定位方法.首先对端面点云进行预处理操作;然后使用改进的聚类分割算法对端面点云进行分割,并以分区统计为依据提出完整单根棒材端面中心定位方法和残缺单根棒材端面中心定位方法,实现端面中心定位;最后以端面法向量表征端面中心姿态重建端面中心位姿.采集200组不同姿态的单根棒材端面点云进行实验的结果表明,单根棒材端面定位时间不超过0.5 s,位置误差小于3 mm,姿态误差小于2°;所提方法是高效的,可准确地定位棒材端面中心.
Abstract
Aiming at the difficulty and low efficiency of end face center position measurement in the end face la-beling process of bundled bars,a method of end face positioning of bundled bars based on point cloud partition-ing statistics is proposed.Firstly,the end face point cloud is pre-processed;then the end face point cloud is seg-mented using an improved clustering segmentation algorithm,and a method for locating the endface centre of complete single bar and a method for locating the endface centre of defective single bar based on the zoning sta-tistics are proposed to achieve end face center localization;finally,the end face normal vector is used instead of the endface center pose for end face center pose reconstruction.200 single bar end face point clouds with differ-ent pose were collected for the experiment,the time to locate a single bar endface was less than 0.5 s,the position error was less than 3 mm,and the posture error was within 2°.The results show that the proposed method is effi-cient and can accurately locate the bar endface centre.
关键词
点云分割/成捆棒材/点云分区统计/端面中心定位Key words
point cloud segmentation/bundled bars/point cloud zoning statistics/end face center positioning引用本文复制引用
基金项目
国家重点研发计划(2018YFB1308700)
河北省重点研发计划(22311802D)
河北科技大学在读研究生创新能力培养资助项目(XJCXZZSS2022003)
出版年
2024
NETL
NSTL
万方数据