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首页> 外文期刊>The International Journal of Advanced Manufacturing Technology >Fast registration of 3D point clouds with offset surfaces in precision grinding of free-form surfaces
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Fast registration of 3D point clouds with offset surfaces in precision grinding of free-form surfaces

机译：3D点云的快速登记采用偏移表面，精密磨削自由式曲面

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摘要

Because of its high sensitivity to misalignment, precision grinding of free-form surfaces with micron accuracy requires accurate registration of the surface measurement point cloud. Registration of point clouds obtained with a coordinate measuring machine (CMM) is generally an iterative process of finding optimal coordinate transformation between the CMM frame and the model frame of the workpiece by minimizing the point-to-surface distances with probe radius compensation. For free-form surfaces, frequent calculation of point-to-surface distances consumes very much time, and a trade-off has to be made between the efficiency and the accuracy. This paper presents a method for fast registration of free-form surface point clouds based on the point-to-triangle distance which involves only Delaunay triangulation of a two-dimensional dataset, and the surface normal is quickly calculated from cross product. Probe radius compensation is realized by registering the probe center points with the offset surface. We prove that it is equivalent to registering the probe contact points with the nominal surface through theoretical analysis. The registration problem is then formulated as sequential linear least-square problems with properly defined ball constraints. To validate the method, numerical simulations are presented to show the accuracy of the point-to-triangle distance. The registration algorithm also shows excellent robustness against misalignment of tens of millimeters/degrees. Finally measurement, registration, and grinding of a free-form optical surface are experimentally demonstrated. The surface error obtained after registration is used for compensatory grinding which reduces it to micron level.
机译：由于其对未对准的敏感性高，具有微米精度的自由形式的精确磨削需要精确的表面测量点云注册。用坐标测量机（CMM）获得的点云的配准通常是通过最小化具有探头半径补偿的点对表面距离来找到工件的CMM帧和模型框架之间的最佳坐标变换的迭代过程。对于自由形状的表面，频繁计算点对点距离的时间很大，并且必须在效率和准确性之间进行权衡。本文提出了一种基于涉及二维数据集的二维三角形的点对角距离的自由形状表面点云的快速登记方法，并且表面正常从横向产品迅速计算。通过用偏移表面注册探头中心点来实现探针半径补偿。我们证明它是相当于通过理论分析将探头接触点注册到标称表面。然后将注册问题配制为具有正确定义的球约束的顺序线性最小二乘问题。为了验证方法，提出了数值模拟以显示点对角距离的准确性。登记算法还展示了针对数十毫米/度的不对准的优异鲁棒性。最后进行了测量，登记和研磨自由形状光学表面。在配准后获得的表面误差用于补偿研磨，从而将其降低到微米水平。

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