河北工业科技2024，Vol.41Issue(6)：470-480,11.DOI:10.7535/hbgykj.2024yx06009
成捆圆钢端面点云处理与标牌焊接点定位方法研究
Research on point cloud processing of end surface of bundled round steels and positioning method of welding tag point
摘要
Abstract
In order to achieve accurate positioning of welding tag by robot system,a processing method of point cloud of the end surface of bundled round steels and welding point positioning was proposed.Firstly,the traditional filtering methods of point cloud were improved in terms of search rules and parameter.Secondly,combining Euclidean clustering,axis-aligned bounding box(AABB)and reverse K-nearest neighbor(RKNN)search,a point cloud segmentation algorithm was proposed.Then,a welding point selection strategy was formulated based on welding tag requirements.The point cloud position was corrected through normal vectors estimation.The random sample consensus(RANSAC)algorithm was used to fit the seleted point cloud of the end surface of bundled round steels to obtain the welding point position.Finally,a welding tag experiment was conducted.The results show that this method effectively removes the influence of irrelevant point clouds,shortens the filtering time,greatly reduces the number of point cloud,effectively segments the point cloud adhesion,obtains the point cloud for each round steel end face,determines the round steel that meets the welding tag requirements,and accurately obtains the coordinates of the welding points.The welding plate experiment shows that the relative positioning error is less than 8%,which meets the actual production needs.The proposed method is conducive to improve the accuracy and efficiency of welding tag positioning in the welding tag robot system,and can also provide reference for the positioning of similar industrial robot systems.关键词
计算机图象处理/点云/改进滤波方法/RKNN算法/成捆圆钢/焊牌Key words
computer image processing/point cloud/improved filtering method/RKNN algorithm/bundled round steels/welding tag分类
信息技术与安全科学引用本文复制引用
李文忠,王者涵,张付祥,王春梅,黄风山..成捆圆钢端面点云处理与标牌焊接点定位方法研究[J].河北工业科技,2024,41(6):470-480,11.基金项目
中央引导地方科技发展资金项目(246Z1808G) （246Z1808G）
石家庄市驻冀高校重大科技专项(241080507A) （241080507A）
