The invention discloses an
electrode stem straightness detection method based on
point cloud, and relates to the technical field of
machine vision and automatic detection, and the method comprises the steps: collecting and fusing multi-frame
point cloud data through combining a line
laser camera and a
manipulator with a hand-eye calibration technology, and generating a complete
electrode stem three-dimensional model. After preprocessing, an improved PointNet + + network is adopted for segmentation, and foreground
point cloud of the
electrode stem is extracted from a complex background; carrying out the
principal component analysis of the foreground point cloud to correct the attitude, carrying out the projection to generate a
depth map, carrying out the binarization
processing, extracting central axis scatter points, and carrying out the fitting of an ideal reference straight line through a least square method; and a pair of parallel containing lines containing all axis scatter points and having the
minimum distance are determined according to an
interphase criterion by adopting a minimum containing area method, and the
vertical distance of the parallel containing lines is the final straightness error. According to the invention, non-contact and automatic detection is realized, the detection precision and efficiency are better than those of a traditional scheme, and the real-time quality inspection requirement of industrial online production can be met.