深孔内表面检测点云拼接技术研究

深孔内表面检测系统获取的单视角点云无法体现深孔零件内表面全貌，为实现深孔内表面完整面形的三维重建，提出了一种深孔内表面检测系统的位姿标定技术，用于提供深孔内表面重建的点云拼接初值。首先，介绍了深孔内表面检测技术原理，分析并建立了深孔零件测量点云的坐标变换模型，确定了坐标变换模型中需要标定的系统位姿参数；然后，分析了系统在内表面上的测量轨迹，以旋转轴转角描述测量轨迹，并对点云逆向重建；之后以系统参数的求解误差作为损失函数优化测量轨迹模型，实现了系统位姿参数标定；最后，对直圆筒和凹槽部分的点云拼接实验表明:该方法适用于深孔内表面检测，易于操作，拼接误差不大于0.08 mm，与其他方法相比均有一定优势。

Research on point cloud splicing for inner surface inspection of deep hole

The single-view point cloud obtained by the deep hole inner surface inspection system cannot reflect the full picture of the inner surface of the deep hole part. In order to realize the three-dimensional reconstruction of the complete surface shape of the deep hole inner surface, a pose calibration technology for the deep hole inner surface inspection system was proposed, which was used to provide the initial value of the point cloud stitching for the reconstruction of the inner surface of the deep hole. Firstly, the principle of deep hole inner surface detection technology was introduced, the coordinate transformation model of deep hole parts measurement point cloud was analyzed and established, the system pose parameters that need to be calibrated in the coordinate transformation model were determined; Then, the measurement trajectory of the system was described by the rotation axis angle, and the point cloud was reconstructed inversely; Then the measurement trajectory model was optimized with the solution error of the system parameter as the loss function, and the system pose parameter calibration was realized; Finally, point cloud splicing experiments of the straight cylinder and the concave groove show that the method was suitable for the detection of the inner surface of the deep hole and easy to operate, the splicing error was not more than 0.08 mm. Compared with other methods, it has certain advantages.