论文总字数：18848字

摘 要

因为非接触测量具有快速、灵活性高以及成本的特点，所以在智能制造等领域中具有广泛的应用前景和价值。激光扫描与视觉跟踪所组成的测量系统，具有高精度、测量范围大的特点，可以用于测量工件，并且对工件的性质参数进行分析计算。

在本文中，首先对非接触测量的定义、意义、研究重点、研究状况进行了介绍，并介绍了激光扫描仪的参数与使用方式；然后对激光扫描仪经过一次扫描得到工件的点云数据进行计算分析,提取工件的边缘轮廓，并通过算法对工件的边缘轮廓点进行筛选、分类从而提取到必要的参数信息的点云数据。再对点云数据进行处理、计算，得到需要的工件的参数；最后讲述了非接触测量的发展以及对以后工业发展的影响。

本文中测量数据的单位为毫米；在对数据处理中，会因轮廓提取不均匀与不完全的情况下会导致一定的误差；对误差产生方式进行分析，以及提出可行性的解决方案。

关键词：非接触测量 激光扫描 点云数据 算法

Data processing and parameter calculation of non-contact measurement system

Abstract

Non-contact measurement it has broad application prospects and values in the field of intelligent manufacturing because of its fast, high flexibility and cost characteristics. Laser scanning and measuring system consisting of visual tracking, with high precision, a wide measuring range can be used to measure the workpiece, and the properties of workpiece are analyzed and calculated.

In this article, frist of all, the definition, significance, research priorities, research status of non-contact measurement would be introduced, and the laser scanner parameters and use would also be introduced;Then, the point cloud data of the workpiece that the laser scanner scanned were calculated and analyzed to extract the edge contour of the workpiece, and the edge contour points of the workpiece were screened and classified by algorithm to extract point cloud of the necessary parameter information. After that, the point cloud were processed and calculated to get the parameters of the workpiece;Finally, the development of non-contact measurement and implications for future industrial development was described.

In this article, measurement data units is mm; in data processing, contour extraction which is uneven and incomplete will lead to some errors; the errors generated were analyzed, and put forward the feasibility of the solution.

Key Words: Non-contact measurement; Laser scanning; point Cloud; Algorithm

目 录

摘要…………………………………………………………………………………I

ABSTRACT………………………………………………………………………II

第一章 绪论………………………………………………………………………1

1.1 非接触测量的介绍…………………………………………………………1

1.2 非接触测量研究进展与状况………………………………………………1

1.3 课题来源……………………………………………………………………2

第二章 视觉和激光测量理论基础……………………………………………4

2.1激光扫描仪…………………………………………………………………4

2.2.1 激光扫描仪的工作方式……………………………………………4

2.2.2 激光扫描仪的参数…………………………………………………4

2.2坐标系的定义………………………………………………………………5

2.2.1坐标系的介绍…………………………………………………………5

2.2.2坐标系之间的转换……………………………………………………6

2.2.3激光扫描仪的坐标定义………………………………………………8

2.3点云数据的性质……………………………………………………………8

第三章 基于点云数据对工件参数计算的方法……………………………9

3.1 工件轮廓的提取……………………………………………………………9

3.1.1 点云法向量的计算…………………………………………………9

3.1.2 工件轮廓的提取…………………………………………………10

3.2 弧线轮廓的提取……………………………………………………………10

3.2.1 弧线轮廓的第一次提取……………………………………………10

3.2.2 弧线轮廓的第二次提取……………………………………………11

3.3 圆心的计算…………………………………………………………………12

3.3.1 最小二乘法提取圆心………………………………………………12

3.3.2 Hough变换提取圆心………………………………………………13

3.4 本章小结……………………………………………………………………13

第四章 方法的实现与仿真……………………………………………………15

4.1 设备搭建……………………………………………………………………15

4.2 方法实现……………………………………………………………………16

4.3 实验结果与分析……………………………………………………………16

4.4 产品化的情况下对算法的改进与补充……………………………………18

4.4.1 改进误差基础上新算法的提出……………………………………18

4.4.2 对激光传感器输出的数据进行读取的补充………………………19

4.5 本章小结……………………………………………………………………20

第五章 总结与展望………………………………………………………………21

参考文献……………………………………………………………………………22

第一章 绪论

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