基于点云数据的改进型焊缝骨架提取算法  

The Improved Pick-up Algorithm for Weld Seam Skeleton Extraction Based on Point Cloud Data

作　　者：谷心浩 刘霞[1] 龚烨飞 刘继承 谢雨欣 何榕程 冯义斌 GU Xin-hao;LIU Xia;GONG Ye-fei;LIU Ji-cheng;XIE Yu-xin;HE Rong-cheng;FENG Yi-bin(School of Physics and Electronic Engineering,Northeast Petroleum University;School of Electrical and Automation,Changshu Institute of Technology;College of Information and Control Engineering,China University of Mining and Technology;School of Mechanical Engineering,Yancheng Institute of Technology)

机构地区：[1]东北石油大学物理与电子工程学院 [2]常熟理工学院电气与自动化学院 [3]中国矿业大学信息与控制工程学院 [4]盐城工学院机械工程学院

出　　处：《化工自动化及仪表》2025年第1期94-100,110,共8页Control and Instruments in Chemical Industry

摘　　要：为了满足机器人焊缝磨削的要求,提出了一种基于点云数据的改进型焊缝骨架提取算法。该方法首先采用基于八叉树的体素滤波对焊缝原始点云进行降采样,然后使用随机采样和WLOP算子获取初始骨架点,接着通过迭代收缩提取焊缝骨架,引入斥力函数避免错误分支的生成,最后通过拟合曲线连接骨架线。实验结果表明:该算法能够适应多种不同类型的焊缝,提取出质量良好的焊缝骨架,并正确地表达焊缝的主体特征。With a view to satisfying the robot’s requirements for weld grinding,an improved algorithm for the weld seam skeleton extraction based on point cloud data was proposed.Firstly,having the octree-based voxel filtering used to downsample original point cloud of the welding seam;and then,having both random sampling and WLOP operator adopted to obtain initial skeleton points,including having the weld seam skeleton extracted by iterative contraction and having the repulsive function introduced to avoid the generation of wrong branches;finally,having the skeleton lines connected by fitting curves.The experimental results show that,the algorithm can adapt to many different welds,extract the weld seam skeleton with good quality and correctly express the main features of welds.

关 键 词：点云处理 骨架提取 焊缝特征提取 焊缝磨削 

分 类 号：TP14[自动化与计算机技术—控制理论与控制工程]