一种基于3D线激光相机的管塔轮廓提取方法、设备及介质

By employing a pipe tower profile extraction method based on a 3D line laser camera and Tukey weighted least squares fitting technology, the problem of poor flange-to-pipe tower fit was solved, enabling efficient pipe tower flange manufacturing and installation, and improving installation efficiency and connection strength.

CN120563545BActive Publication Date: 2026-07-17NANJING ESTUN AUTOMATION CO LTD +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
NANJING ESTUN AUTOMATION CO LTD
Filing Date
2025-05-15
Publication Date
2026-07-17

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Abstract

本申请公开了一种基于3D线激光相机的管塔轮廓提取方法、设备及介质，方法包括以下步骤：步骤S1：使用3D线激光相机检测管塔的轮廓；所述3D线激光相机设置在一机器人上，通过机器人上移动3D相机，将3D线激光相机与机器人进行手眼标定，将3D相机采集的图像坐标系映射为机器人坐标系；机器人将3D线激光相机移至管塔的一侧边缘处，并按设定路径移动对管塔轮廓进行扫描采集；步骤S2：根据管塔轮廓提取管塔的外轮廓坐标点。本申请优点是能够快速的提取管塔轮廓，为管塔法兰制造提供数据支持。
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