基于点云处理的弹簧参数测量  

Spring Parameter Measurement Algorithm Based on Point Cloud Processing

作　　者：成奇龙 郭锐[1,2,3] CHENG Qi-long;GUO Rui(Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110069,China;Institute of Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110069,China;School of Computer Science and Technology,University of Chinese Academy of Seiences,Beijing 100049,China;不详)

机构地区：[1]中国科学院沈阳自动化研究所,沈阳110069 [2]中国科学院机器人与智能制造创新研究院,沈阳110069 [3]中国科学院大学计算机科学与技术学院,北京100049 [4]辽宁省智能检测与装配技术重点研究室,沈阳110179

出　　处：《组合机床与自动化加工技术》2022年第12期136-138,143,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：中国科学院C类战略性先导专项(XDC04030200);国家自然科学基金面上项目(62073312);辽宁省‘兴辽英才计划’项目资助(XLYC2002055)。

摘　　要：弹簧作为机械生产的重要零件,批量检测与参数测量是一项繁重的工作,针对弹簧长度、直径、节距及垂直度的自动化检测,提出了利用点云的弹簧参数测量方法,该方法首先获取点云,通过滤波去除杂点,利用RANSAC平面分割与3D圆提取从端面中获取外径;利用AABB包围盒从侧面中提取端面,面间距离为长度;以端面的法向量为基准向量,利用PCA,提取轴向主方向,与基准方向之间的夹角衡量垂直度;利用节距点的法向量与轴向主方向垂直的特性,提取节距线,并径向投影,利用DBSCAN聚类节距点簇,拟合直线,线间距离为节距。针对样件,以手动测量结果为基准,该方法获得各参数精度均在3%以内,并且适用于各种型号的螺旋弹簧参数测量。As an important part of mechanical production,batch detection and parameter measurement of spring is a heavy work.Aiming at the automatic detection of spring length,diameter,pitch and perpendicularity,a spring parameter measurement method using point cloud was proposed.Firstly,the point cloud was obtained,the clutter was removed by filtering,and the outer diameter was obtained from the end face by RANSAC plane segmentation and 3D circle extraction;AABB bounding box was used to extract the end face from the side,and the distance between the faces was the length;Taking the normal vector of the end face as the reference vector,the principal axial direction was extracted by PCA,and the included angle between the direction and the reference direction was used to measure the perpendicularity;Using the characteristic that the normal vector of the pitch point was perpendicular to the axial principal direction,the pitch line was extracted and projected radially.DBSCAN was used to cluster the pitch point cluster and fit the straight line.The distance between lines was the pitch.For the sample,based on the manual measurement results,the accuracy of each parameter obtained by this method was less than 3%,and it is suitable for the parameter measurement of various types of coil springs.

关 键 词：弹簧 点云 三维测量 RANSAC AABB包围盒 DBSCAN 

分 类 号：TH161[机械工程—机械制造及自动化] TG506[金属学及工艺—金属切削加工及机床]