点云配准与改进最小二乘法的高精度定位  

A High Precision Location Method for Point Cloud Registration and Improved Least Squares Method

作　　者：梁洪卫[1] 钱维凤 阚玲玲[1] 赵妍俐 苏文豪 LIANG Hongwei;QIAN Weifeng;KAN Lingling;ZHAO Yanli;SU Wenhao(School of Electrical&Information Engineering,Northeast Petroleum University,Daqing 163318,China)

机构地区：[1]东北石油大学电气信息工程学院,大庆163318

出　　处：《组合机床与自动化加工技术》2024年第12期57-61,共5页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：在贴片机矩形芯片图像采集中,针对检测芯片轮廓的精度易受吸嘴成像干扰的问题,提出了一种基于点云配准和改进最小二乘法的算法。该算法通过吸嘴定位和矩形定位联合优化的方式对芯片轮廓进行描述:在吸嘴定位阶段,利用融合KDTree树的点云配准算法精确定位吸嘴的位置并从中剔除吸嘴部分的轮廓。在矩形定位阶段,创建直线贴合的方法获取矩形四条边的坐标点集,引入正态分布和弧度信息改进最小二乘法对矩形边拟合,以获得芯片的精确坐标信息。所提算法解决了矩形芯片受到吸嘴成像干扰的情况下定位不准确的问题。实验结果表明,本算法能够在有干扰的矩形芯片图像中达到98%以上的准确率,精度控制在0.1 mm以内且算法的执行时间在50 ms左右。综合而言,所提算法具有良好的鲁棒性和精度,为解决复杂工业场景中的矩形芯片定位问题提供了可靠的解决方案。In order to solve the problem that the accuracy of chip contour detection is easily disturbed by nozzle imaging,an algorithm based on point cloud registration and improved least square method is proposed.The algorithm describes the chip contour through joint optimization of nozzle positioning and rectangular positioning.In the nozzle positioning stage,the point cloud registration algorithm of fusion KDTree is used to accurately locate the nozzle position and remove the outline of the nozzle part.In the stage of rectangular positioning,a linear fitting method is created to obtain the coordinate point set of four sides of the rectangle,and the normal distribution and radian information are introduced to improve the least square method to fit the rectangular edge to obtain the precise coordinate information of the chip.The proposed algorithm solves the problem of inaccurate positioning when the rectangular chip is disturbed by the nozzle imaging.The experimental results show that the algorithm can achieve more than 98%accuracy in the rectangular chip image with interference,the accuracy is controlled within 0.1 mm and the execution time of the algorithm is about 50 ms.In summary,the proposed algorithm has good robustness and accuracy,and provides a reliable solution for solving the rectangular chip positioning problem in complex industrial scenes.

关 键 词：点云配准 矩形检测 直线贴合 改进最小二乘法 

分 类 号：TH164[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]