基于数字孪生的生产线三维检测与交互算法研究  

Research on 3D Detection and Interaction Algorithm of Production Line Based on Digital Twin

作　　者：陈末然 邓昌义 张健 郭锐锋[3] CHEN Mo-ran;DENG Chang-yi;ZHANG Jian;GUO Rui-feng(Beihang University,School of Instrument Science and Optoelectronic Engineering,Beijing 100191,China;National Industrial Information Security Development Research Center,Beijing 100040,China;Shenyang Institute of Computing Technology,Chinese Academy of Sciences,Shenyang 110168,China)

机构地区：[1]北京航空航天大学仪器科学与光电工程学院,北京100191 [2]国家工业信息安全发展研究中心,北京100040 [3]中国科学院沈阳计算技术研究所,沈阳110168

出　　处：《小型微型计算机系统》2020年第5期979-984,共6页Journal of Chinese Computer Systems

基　　金：国家双创示范基地中小企业综合服务平台(ZJ201901001)资助;工信部智能制造综合标准化项目(SH201825111)资助.

摘　　要：针对生产线中检测算法与各个生产环节相对独立、缺乏被测物体特征描述与特征匹配约束等问题,提出基于数字孪生技术的三维检测算法,通过建立物理空间与虚拟空间的数字化映射,实现检测算法和设备的匹配,解决传统三维特征匹配方法中出现大量伪对应关系的问题.算法在离线环节建立被测物三维特征描述的孪生模型,是基于SHOT特征上的局部投票向量;在线检测环节仅采用一个孪生的三维投票空间,投票选出正确的匹配关系,也降低了计算复杂度.将所提算法在数字孪生产线中进行实验,通过与传统匹配方法对比,验证了新算法在特征点匹配精确性、识别率方面都强于传统方法,在生产线的检测应用领域中有积极的意义.In order to solve the problems that the three-dimensional detection algorithm in the production line is relatively independent from each production link and lacks the feature description of the measured object,an improved detection algorithm based on digital twin is proposed.The digital mapping of physical space and virtual space can be established by digital twin technology,which is used to achieve matching between detection algorithms and devices,reduce design redundancy,and solve a large number of pseudo correspondences in traditional matching methods.The proposed algorithm establishes a twin model of 3D feature description for the measured object in the offline,which is used for local voting vectors on SHOT features.The online stage only uses a twin 3D voting space to reduce the computational complexity,voting for the correct matches.Compared with the traditional matching method,it is verified that the new algorithm is stronger than the traditional method in terms of feature point matching accuracy and recognition rate,and has positive significance in the detection application field of the production line.

关 键 词：数字孪生 三维检测 霍夫投票机制 点云匹配 特征描述 

分 类 号：TP316[自动化与计算机技术—计算机软件与理论]