基于2D激光扫描的基准检测技术研究

Research on Benchmark Detection Technology Based on 2D Line Laser Scanning

在机器人自动制孔系统中,基准孔检测的准确性会直接影响整个机器人制孔过程的位置精度。为获取基准孔孔位准确信息,采用激光扫描的方式对基准孔进行检测。设计了2D线激光扫描在基准平面内点云的三维转化方法,通过分析基准孔在扫描仪坐标系下点云的分布特点,提出了一种基于坐标差值的基准孔边界提取算法。通过设定相邻点云在线激光扫描仪坐标系下z轴的坐标差值获取边界点,实验验证该算法能有效地去除点云中的噪声点,获取准确的基准孔边缘特征信息,进而得到准确的基准孔孔位信息。

In the robotic automatic hole-making system,the reference hole detection accuracy directly affects the position accuracy of the whole robot drilling process.To obtain the accurate information of the reference hole position,this paper uses line laser scanning method to detect the reference hole and draws up a three-dimensional transformation method of 2D line laser scanning in the reference plane.Then,by analyzing the distribution characteristics of the point cloud of the reference hole in the scanner coordinate system,an algorithm for extracting the boundary of the reference hole based on coordinate difference is proposed.The boundary points are obtained by setting the coordinate difference of z axis in the coordinate system of the adjacent point cloud on-line laser scanner.Experimental results show that the algorithm can be used to effectively remove the noise points in the point cloud,obtain the accurate edge feature information of the reference hole,and then get the accurate position information of the reference hole.