点云配准在大型曲面工件定位中的应用

针对工业生产中大尺寸薄壁工件的高精度加工需求,利用点云配准技术解决弱刚度及缺少定位信息等实际问题,对工件位姿进行迭代调整。最近点迭代（ICP）算法对于平坦曲面和有限点数据的精度不高,结合ICP算法和曲面点参数反求方法,减小了在边缘和角点的匹配误差,提高了整体匹配效果。仿真结果表明,该方法能够在保证整体性能的前提下得到较优的局部匹配精度,为解决大型曲面工件的主动寻位和自动调位问题提供了一条有效途径。...

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Bibliographic Details
Published in计算机应用研究 Vol. 32; no. 8; pp. 2347 - 2349
Main Author 王冬 周凯
Format Journal Article
LanguageChinese
Published 清华大学机械工程系,北京,100084 2015
Subjects
弱刚度曲面
曲面定位
曲面点反求
点云配准
弱刚度曲面
point cloud registration
点云配准
weakly rigid surface
surface point inversion
曲面定位
surface localization
曲面点反求
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ISSN1001-3695
DOI10.3969/j.issn.1001-3695.2015.08.026

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Summary:针对工业生产中大尺寸薄壁工件的高精度加工需求,利用点云配准技术解决弱刚度及缺少定位信息等实际问题,对工件位姿进行迭代调整。最近点迭代（ICP）算法对于平坦曲面和有限点数据的精度不高,结合ICP算法和曲面点参数反求方法,减小了在边缘和角点的匹配误差,提高了整体匹配效果。仿真结果表明,该方法能够在保证整体性能的前提下得到较优的局部匹配精度,为解决大型曲面工件的主动寻位和自动调位问题提供了一条有效途径。
Bibliography:51-1196/TP
In the manufacturing process of large-size thin-wall work-piece, weakly rigid and lack of locating information make the accurate localization and clamping difficult. Point cloud registration could overcome this problem by iteratively adjusting the position of work-piece. Iterative closest point （ICP） is the most popular algorithm in point cloud registration. But the main drawback is its weakness on flat plane especially when little data points can be sampled. This paper proposed a two-step method combining ICP and surface point inversion algorithms to reduce the mismatch on edges and corner-points. The results show that the two-step method can gain better overall performance and nice local precision. It can be an effective way to localization and auto-aligning of work-piece surface.
Wang Dong, Zhou Kai （ Dept. of Mechanical Engineering, Tsinghua University, Beifing 100084, China）
point cloud registration; surface localization; weakly rigid surface; surface point inversion
ISSN:1001-3695
DOI:10.3969/j.issn.1001-3695.2015.08.026