The present application relates to a hub automatic
polishing track generation method and device based on
point cloud and template, first relying on hub geometric constraint to align real-time
point cloud and template
point cloud reference coordinate
system and correct point cloud, then solving
pose transformation matrix, adaptive mapping
polishing track. Geometric constraint pre-locks matching optimization range, relieves
single camera local point cloud and complete template cross-mismatch, normal offset defects, prevents
grinding head overcut or burr residue. Pre-geometric correction offsets
die casting deformation,
millimeter-level positioning error, provides high-quality
initial point cloud for
pose solving, improves registration convergence stability, overcomes the problem of few features of hub
smooth surface and easy failure of direct registration. The present application generates exclusive
polishing track for each hub, replaces teaching
robot fixed track blind
punching, does not need artificial continuous debugging, improves batch workpiece polishing consistency, avoids artificial polishing dust
noise, unstable quality and high labor cost.