基于结构光在机测量的变形薄壁件点云配准方法
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(哈尔滨理工大学 机械动力工程学院,黑龙江 哈尔滨 150080)

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李茂月(1981-),男,博士,教授,博士生 导师,主要从事复杂零件光学检测与智能加工技术等方面的研究.

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国家自然科学基金(51975169)和黑龙江省普通高校基本科研业务费专项资金(2019-KYYWF-0204)资助项目


Point cloud registration method for deformed thin-walled parts based on on-machine measurement of structured light
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(School of Mechanical and Power Engineering,Harbin University of Science and Tec hnology,Harbin,Heilongjiang 150080, China)

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    摘要:

    结合点云局部特征和Octree优化搜索,提出了用 于薄壁零件加工过程测量的三维变形点云自动配 准的算法,并有效计算出位移偏差量。首先,对薄壁零件点云模型进行数据预处理,去除主 体中的无效 点和噪声点,计算点云的法向量、3个特征元素作为PPFNET(point pair feature net)特征学习方法的输入,利用最 大池化层将 变形的局部特征聚合到全局特征中,通过全局和局部特征描述符的深度学习,找出无序点云 间的对应关 系,完成点云粗配准过程;然后,提出一种基于迭代就近点算法 (iterative closest point,ICP)的改进精配准算法,通过增加阈值限定 ,过滤加工 变形时颤振影响,使配准精度达到了98.58%,配准效率提高了10%;最后,采用Hausdorff进行距离计 算,使用Cloud-Compare进行位移偏差分析,分析结果与实验结果比较表明,平均绝对百分 比误差(mean absolute percentage error,MAPE) 为2.32%。在机测量模拟结果表明,所提方法满足在机检测加工变形 的实时性和测量精度要求。

    Abstract:

    Combined with the local features of point cloud and Octree optimization search,a n automatic registration algorithm of 3D deformation point cloud for machining pro cess measurement of thin-walled parts is proposed,and the displacement deviation is effectively calculated.Firstly,the data of the point cloud model of thin-walled parts is preprocessed to remove th e invalid points and noise points in the main body.The normal vector and three feature elements of t he point cloud are calculated as the input of the point pair feature net (PPFNET) feature learning method.The deformed loca l features are aggregated into the global features by using the maximum pool layer.Through the in-depth learning of the global and local feature descriptors,it can find out the corresponding r elationship between disordered point clouds and complete the rough registration process of point clo uds.Then,an improved precision registration algorithm based on interative closest point (ICP) is proposed.By increasin g the threshold limit and filtering the influence of chatter during machining deformation,the registr ation accuracy is 98.58% and the registration efficiency is improved by 10%.Finally,Hausdorff is used to calculate the distance,and Cloud-Compare is used to analyze the displacement deviation.The co mparison between the analysis results and the experimental results shows that the mean absolut e percentage error (MAPE) is 2.32%.The simulation results show that the proposed m ethod meets the requirements of real-time and measurement accuracy of machining deformation.

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李茂月,田帅,刘硕,赵伟翔.基于结构光在机测量的变形薄壁件点云配准方法[J].光电子激光,2022,33(11):1148~1157

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  • 收稿日期:2022-01-22
  • 最后修改日期:2022-03-22
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  • 在线发布日期: 2022-11-16
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