天津科技大学学报2023，Vol.38Issue(6)：47-53,7.DOI:10.13364/j.issn.1672-6510.20230041
基于三维点云处理的包装袋绳检测
Packaging Bag Rope Detection Based on 3D Point Cloud Processing
摘要
Abstract
Automatic unpacking process usually needs to locate the position of the bag rope on the bag and provide it to the manipulator for easy operation.In order to accurately and reliably locate the position of the bag rope,an algorithm of bag rope detection based on 3D point cloud processing is designed in our present study.The first step is to obtain the point cloud data of the bag using the 3D depth camera.The boundary extraction algorithm used in this study requires a large number of angular calculations for the point cloud.To improve detection efficiency and reduce the effect of noise,the point cloud data is pre-processed with down-sampling and de-noising.In order to solve the problem that the point cloud of bag rope is embed-ded in the point cloud of packaging bag,and it cannot be extracted directly from the point cloud of bag rope,according to the different curvature characteristics of the point cloud of bag rope point cloud and the point cloud of packaging bag,the bound-ary extraction algorithm based on the angle threshold first extracts the point cloud boundary,and then splits the point cloud boundary based on the Euclidean distance segmentation algorithm to segment the point cloud.The center position coord-inates are calculated by the center of gravity method.The maximum error with the manual measurement value is within 15 mm,which can meet the needs of industrial mechanical arm unpacking.The location detection experiment of boundary extraction and segmentation was carried out for the different kinds and positions of the point clouds of packaging bags col-lected on site.The detection results showed that the proposed detection algorithm could effectively detect and locate the pos-ition of the bag rope,which is convenient for the mechanical arm to accurately disassemble the packaging bag.关键词
边缘提取/目标分割/三维点云/包装袋绳Key words
boundary extraction/object segmentation/three-dimensional point cloud/bag rope分类
机械制造引用本文复制引用
杨国威,刘新月,陈绮帆,王校阳..基于三维点云处理的包装袋绳检测[J].天津科技大学学报,2023,38(6):47-53,7.基金项目
国家自然科学基金资助项目(51805370) （51805370）
天津市自然科学基金资助项目(20JCQNJC00120) （20JCQNJC00120）
