High-precision visual measurement method for bending angle of metal shell based on point cloud registration

By establishing a measurement coordinate system and modeling a continuous bending field based on point cloud registration, the problems of consistency and insufficient accuracy in the measurement of bending angles of metal shells are solved, and high-precision bending angle measurement is achieved.

CN122289183APending Publication Date: 2026-06-26ZHEJIANG ZHENYAO PURIFICATION TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
ZHEJIANG ZHENYAO PURIFICATION TECH CO LTD
Filing Date
2026-03-26
Publication Date
2026-06-26

AI Technical Summary

Technical Problem

Existing technologies for measuring the bending angle of metal shells suffer from problems such as insufficient consistency of measurement results, susceptibility to operational influences, difficulty in adapting to different workpieces and working conditions, lack of overall point cloud registration constraints in local geometric fitting, and failure to fully utilize height distribution information, resulting in insufficient accuracy.

Method used

Based on the point cloud registration method, a measurement coordinate system with reference marker points as anchors is established. By combining the registration residuals of the predicted point cloud and the measured point cloud with the compact residuals of the bending zone, the bending line position, bending angle and bending zone width are solved simultaneously to form a continuous bending field and perform multiple rounds of candidate parameter search to generate the final predicted point cloud.

Benefits of technology

It achieves high-precision visual measurement of the bending angle of metal shells, improves the stability and consistency of measurement results, reduces sensitivity to local defects and noise, and enhances the adaptability and reliability of measurement.

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Abstract

This invention relates to the field of machine vision measurement technology and discloses a high-precision visual measurement method for the bending angle of metal shells based on point cloud registration. A measurement coordinate system is established using reference marker points, and the point cloud after bending is transformed. A reference point set is constructed by filtering boundaries and calculating the reference sampling step size. The average bending height and bending strength are statistically analyzed by width to obtain the initial position of the bending line and the initial bending band width. A continuous bending field is constructed within the candidate range to generate a predicted point cloud, and the registration residual is obtained by comparing the nearest point with the measured point cloud. The compact residual and column height residual are obtained by combining the projection boundary, out-of-band diffusion, and column height comparison. The total residual is constructed and searched multiple times to obtain the optimal bending line, bending angle, and bending band width. The predicted point cloud, registration error, and bending angle are output, reducing segmentation fitting bias, suppressing multi-solution drift, and improving stability and consistency under noise and missing conditions.
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