基于三维点云的空间孔位对接技术研究  

Research on Spatial Hole Docking Technology Based on 3D Point Cloud

作　　者：李杨 宋席发 王冰 苏杰 吴雪静 韩笑 

机构地区：[1]北华航天工业学院电子与控制工程学院,河北廊坊065000 [2]航天时代飞鸿技术有限公司,北京102199 [3]廊坊市智能获取实验室,河北廊坊065000

出　　处：《工业控制计算机》2025年第3期113-115,共3页Industrial Control Computer

基　　金：北华航天工业学院研究生创新资助项目(YKY-2023-16)。

摘　　要：三维点云的空间孔位姿检测越来越多地用于自动化装配。针对装配过程中孔位检测精度低和噪声干扰等问题,提出了一种基于三维点云空间孔位的对接方法。该方法采用双目3D系统获取点云数据,采用点云导向滤波去除噪声。接着,将点云投影至二维平面,采用轮廓拟合计算圆孔二维坐标,再映射回三维空间确定孔位置。部件对接时,基于多个圆孔中心的空间坐标计算空间姿态角,调整对接平台实现两部件的对接。实验结果表明,该方法提取的圆孔中心与真实圆心一致,空间孔的孔径测量精度在5.3%之内,对接角度最大误差限在1.74°。Spatial hole orientation detection of 3D point clouds is increasingly used in automated assembly.Aiming at the problems such as low detection accuracy and noise interference in the assembly process,a docking method based on 3D point cloud space holes is proposed in this paper.In this method,binocular 3D system is used to obtain point cloud data,and point cloud oriented filtering is used to remove noise.Then,the point cloud is projected onto a two-dimensional plane,the 2D coordinates of the circular holes are calculated by contour fitting,and the hole positions are determined by mapping back to the 3D space.When the components are docked,the space attitude angle is calculated based on the space coordinates of the center of multiple circular holes,and the docking platform is adjusted to realize the docking of the two components.The experimental results show that the center of the hole extracted by this method is consistent with the real center of the circle,the measurement accuracy of the aperture of the space hole is within 5.3%,and the maximum error of the butt angle is limited to 1.74°.

关 键 词：三维点云 空间孔 导向滤波 对接角度 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]