船体外板三维曲面的有效提取

复杂工业环境下不规则曲面的提取方法是水火弯板机器人的重要研究问题之一。本文提出了一种水火弯板机器人复杂曲面提取方法，经过曲面数据采集，加工区域确定，曲面边缘提取，曲面边缘处理，最后根据曲面边缘提取船体外板三维曲面。实验结果表明，该方法在控制处理时间的同时提高精度，缓解点偏差问题，能在海量点云数据下提取出复杂曲面的三维点云数据。

Effective Extraction of Three-dimensional Curved Surface of the Ship Hull Plate

In complex industrial environment, irregular surface extraction method is one of the important researches on line heating robot. This paper presents a complex surface extraction method of line heating. Through surface data acquisition, processing area determination, surface edge extraction, surface edge processing, and finally extracting three-dimensional surface of the outer hull plate according to surface edges, the entire extraction process could be successfully finished. Experimental results show that this method could not only improve accuracy within the control time, but also alleviate the problem of bias point, then finally effectively extract 3D point cloud data of complex surface from massive point cloud data.