[1]罗宝琪,张代聪,钟世龙,等. 基于种子点生长的多种板类堆叠零件的外层识别方法[J].机械与电子,2026,44(02):84-91.
　LUO Baoqi,ZHANG Daicong,ZHONG Shilong,et al. An Outer Layer Recognition Method for Multi-Type Stacked Plate Parts Based on Seed Point Growth[J].Machinery & Electronics,2026,44(02):84-91.
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 基于种子点生长的多种板类堆叠零件的外层识别方法()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
44
期数:
2026年02期
页码:
84-91
栏目:
智能制造
出版日期:
2026-02-26

文章信息/Info

Title:
 An Outer Layer Recognition Method for Multi-Type Stacked Plate Parts Based on Seed Point Growth
文章编号:
1001-2257(2026)02-0084-08
作者:
 罗宝琪; 张代聪; 钟世龙; 曲 政; 秦志超; 张 伟
 (西安工程大学机电工程学院,陕西 西安 710048)
Author(s):
 LUO Baoqi; ZHANG Daicong; ZHONG Shilong; QU Zheng; QIN Zhichao; ZHANG Wei
 (School of Mechanical and Electrical Engineering,Xi’an Polytechnic University,Xi’an 710048,China)
关键词:
 ; 区域生长; 板类零件; 外层识别; 轮廓配准; 自适应阈值调节
Keywords:
region growing; plate parts; outer layer recognition; contour registration; adaptive threshold adjustment
分类号:
TP391.4
文献标志码:
A
摘要:
 针对多种板类零件堆叠的无序抓取问题,提出一种无需预设板类零件模型的区域生长识别方法。该方法首先剔除地面点云与噪声,对预处理点云创建包围盒,根据包围盒大小进行自适应网格划分,将网格中心点投影到点云表面作为初始种子点。然后,以初始种子点作为起始点,进行迭代生长,区域生长算法使用法向量一致性、曲率相似性及欧氏距离等多重约束,并引入自适应阈值调节。最后,进行轮廓配准,利用三维点云投影、凸包轮廓提取及二维刚体变换将分割出的点云轮廓与预设模型进行配准,配准结果满足预设阈值,则判定该分割出的点云轮廓为最外层零件。为验证所提方法,采用三维模型生成不同密度的点云数据进行对比实验,结果表明,所提方法可以稳定识别多种堆叠板类零件的外层轮廓,实现板类零件的高效自动化分拣。
Abstract:
 This paper presents a region growing recognition method that does not require pre set plate part models to address the problem of disordered grasping of multiple stacked plate parts.The method first removes ground point clouds and noise,and then creates a bounding box for the pre processed point cloud.The bounding box size is used to perform adaptive grid partitioning,and the grid center points are projected onto the point cloud surface to serve as initial seed points.Starting from these initial seed points,an iterative growing process is performed.The region growing algorithm uses multiple constraints,including normal vector consistency,curvature similarity,and Euclidean distance,while also incorporating an adaptive threshold adjustment.Finally,contour registration is performed,utilizing 3D point cloud projection,convex hull contour extraction,and 2D rigid body transformation to align the segmented point cloud contours with pre set models.If the registration results satisfy the pre set threshold,the segmented point cloud contour is determined to be the outermost part.To validate the proposed method,comparative experiments were conducted using 3D models to generate point cloud data of different densities.The results show that the proposed method can reliably recognize the outer contours of various stacked plate parts,enabling efficient and automated sorting of these parts.

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备注/Memo

备注/Memo:
 收稿日期:2025-08-17
基金项目:国家自然科学基金资助项目(52005380)
作者简介:罗宝琪 (2000-),男,陕西咸阳人,硕士研究生,研究方向为计算机视觉;张代聪 (1986-),男,山东青岛人,博士,副教授,硕士研究生导师,研究方向为增材制造、计算机图形学和3D视觉,通信作者,E-mail:391000644@qq.com。
更新日期/Last Update: 2026-04-29