基于线结构光点云三维重建的弯管形工件测量方法

弯管形工件在化工、冶金生产中应用广泛,对其截面参数要求精确度极高,但该类工件由于内外形状不规则,人工测量效率低、细节捕捉度差、出错率高,难以满足工业在线实时检测的要求,因此提出使用线结构光扫描获取弯管外形三维点云数据的方法对弯管截面进行实时测量.使用已标定好的线结构光三维测量平台扫描约以4.3 cm/s移动的弯管模型并获取其点云数据,对点云数据进行最近点迭代法配准、高斯滤波去噪、改进的角度偏差法简化,然后采用Delaunay三角网生长算法对点云进行三维重构,并对重构模型的宽度、半径、内径进行拟合测量.实验测量过程耗时约20 s,测误差小于0.05 mm,结果表明该方法具有较高的精确度与准确性,可大幅度提升工件检测效率,有良好的工业应用前景.

Measurement of elbow-shaped workpiece based on 3D reconstruction of line structured light point cloud

Elbow-shaped workpiece is widely used in chemical and metallurgical production. Its cross section parameter requires extremely high accuracy but the workpiece has irregular internal and external shapes which result low manual measurement efficiency, poor detail capture and high error rate which is difficult to realize the requirement of industrial online real-time detection. Therefore line structured light scanning to obtain three-dimensional point cloud data of the shape of the elbow pipe is used to measure the section of the elbow pipe in real time. Calibrated linear structured light three-dimensional measurement platform scan the elbow pipe model moving at about 4.3cm/s and obtain its point cloud data. The point cloud data registration closest point iterative method, Gaussian noise removal, improved simplified angular deviation method then using the Delaunay triangulation algorithm to reconstruct the point cloud in three dimensions and measuring the width radius and inner diameter of the reconstructed model. It takes about 20s and the measurement error is less than 0.05mm. The method has high precision and accuracy which greatly improve the efficiency of workpiece detection. It has great industrial application prospect.