Method for extracting robot processing boundary of thin-walled part with small curvature based on three-dimensional point cloud
US11106932B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 13, 2020 |
| Grant date | Aug 31, 2021 |
| Priority date | — |
| Expiry date | Jun 13, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2210/56
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
The disclosure discloses a method for extracting a boundary of a thin-walled part with small curvature based on three-dimensional point cloud. The method includes: collecting point cloud data of a part to reduce density of the point cloud data, performing Euclidean cluster to divide into point cloud pieces, obtaining triangular mesh surfaces for each point cloud triangulation; extracting a boundary vertex of each triangular mesh surface to obtain a contour thereof, selecting a contour of the part among all contours; searching with each point on the contour as a center to form a three-dimensional boundary point cloud band; projecting the three-dimensional boundary point cloud band to a plane, orderly extracting two-dimensional boundary points within the plane, and arranging corresponding points in the three-dimensional boundary point cloud band according to an order of ordered boundary points within the plane to obtain ordered boundary points in the three-dimensional boundary point cloud band.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.