CN101000499A - Contour machining method and system based on multi-sensor integral measuring - Google Patents
Contour machining method and system based on multi-sensor integral measuring Download PDFInfo
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Abstract
A profile-manufacturing method based on multi-transducer integrated measurement includes utilizing CCD photographic measurement to make rough measurement on object to obtain rough 3-D geometric data of object, guiding said data into 3-D rebuilding module (RM) in universal format, rebuilding rough 3-D model of object by processing viewpoint group, using laser measuring head and contact measuring head to obtain accurate 3-D geometric data of object based on said rough 3-D model, guiding said accurate data into 3-D RM in UF to obtain accurate 3-D model of object then revising obtained model according to requirement.
Description
Technical field
The present invention relates to a kind of contour machining method and system, particularly based on the contour machining method and the system of multi-sensor integral measuring.
Background technology
Being contoured is a kind of effective manufacturing process in the Mould Machining field.Tradition is contoured the pattern method that adopts, and is promptly contacted with the target object surface by the pattern head and obtains position signalling, carries out processing through conversion rear drive cutter.Along with the develop rapidly of mechanical ﹠ electrical technology and process technology, traditional analog contour machining method is replaced by cnc profiling processing gradually because precision is low, speed is slow.Cnc profiling processing is obtained the geological information of tested curved surface earlier by contact or contactless three-dimensional measurement, and the copying system is converted into the digital control processing instruction to metrical information then, drives cutter and carries out processing.Present existing cnc profiling system often has only a kind of sensor to carry out three-dimensional measurement.The single-sensor measurement has its limitation: the three-dimensional measurement speed based on CCD is very fast, but measuring accuracy is not high; The laser without contact scanning survey is easy to use and speed is very fast, but can not effectively extract surface boundary, complex-curved existence scanning blind area; Contact type measurement precision height, but measuring speed is slow, and the measuring process manual intervention is many.Therefore the single-sensor measurement is difficult to extract fast and accurately the geometric properties information of target object.
Summary of the invention
The purpose of this invention is to provide a kind of contour machining method and system based on multi-sensor integral measuring.
The technical solution adopted for the present invention to solve the technical problems is:
One, based on the contour machining method of multi-sensor integral measuring
Comprise reverse measuring process and copying process.Reverse measuring process utilizes the CCD photographic measurement that target object is carried out bigness scale earlier, obtains the three-dimensional geometry data of target object roughly, and imports the three-dimensional reconstruction module with general format.The three-dimensional reconstruction module is carried out pre-service to vision point cloud earlier, then the rough three-dimensional model of reconstructed object object.Laser feeler, contact measuring head are with the guidance that is characterized as of the rough three-dimensional model of target object, automatically target object is carried out accurate measurement, accurately obtain the three-dimensional geometry data of target object, and import the three-dimensional reconstruction module once more with general format, reconstructed object object accurate three-dimensional model, and by demand the accurate three-dimensional model is made amendment.The copying process utilizes the accurate three-dimensional model of target object to generate thick, finishing path, realizes copying.
Described reverse measuring process: at first according to the characteristics of measured shape face, the measurement point that uses the liquid crystal grating projection rationally to distribute, adopt the image of two CCD camera picked-ups subpoint after the curved surface modulation, utilize principle of stereoscopic vision to calculate the geological information of object being measured.System takes measurement of an angle by the universal stage change, realizes the measurement of complex parts.Gained data importing three-dimensional reconstruction module, the geological information that obtains is from different perspectives superposeed based on system coordinate system after the CCD measurement is finished, reconstruct the roughcast type of target object.According to the feature of this roughcast type, instruct laser feeler that the slow gradual change curved surface on target object surface is carried out scanning survey then, instruct contact measuring head to measure surface boundary, key feature position and laser scanning blind area.After reverse measurement finishes, system is on rough model basis, laser point cloud, probe points cloud are imported the three-dimensional reconstruction module with general format, and mate stack by system coordinate system, after deburring, filtering, pre-service such as level and smooth, recovery point cloud differential character reconstructs the three-dimensional model of target object.The amplification of can be according to demand in the Model Reconstruction process model being carried out feature modification, arbitrary proportion such as dwindles at operation, to realize the flexibility copying.
Described copying process: at the free form surface of different characteristic, the copying module provides based on the brilliant and roughing path planning algorithm Z-Map model, and based on brilliant, the counter finishing path planning algorithm of asking the cross section and the imaginary space.The copying module according to the three-dimensional model of target object, is selected reasonably processing algorithm for each shape face earlier, generates numerical control machining code then automatically, by digital control system control lathe, finishes copying.
Two, based on the copying system of multi-sensor integral measuring
Dismountable multisensor is measured main shaft and the profiling machine main shaft is installed on the Z axle of profiling machine structural body side by side, and multisensor is measured main shaft and is installed on the profiling machine Z axle by gib screw; Multisensor is measured on the main shaft CCD photographic measurement sensor, laser feeler and contact measuring head is installed; Wherein there is the projector based on liquid crystal grating the centre of CCD photographic measurement sensor, and respectively there is a digital camera at two ends; The worktable of profiling machine can move in the XY plane; On the worktable universal stage can be installed, take measurement of an angle to be convenient for changing.
The beneficial effect that the present invention has is:
Guidance by CCD measures the rough model of gained can realize the intelligent automaticization measurement of laser and contact; The combination of laser measurement and contact type measurement can be extracted the geometric properties of target object comprehensively accurately; By the three-dimensional reconstruction module, can realize the target object three-dimensional model amplification, dwindle, and can be by the feature of demand modifying target object dimensional model, realize flexibility copying to target object.
Description of drawings
Fig. 1 is based on the copying system architecture synoptic diagram of multi-sensor integral measuring;
Fig. 2 is based on the copying system operating mode process flow diagram of multi-sensor integral measuring;
Fig. 3 is based on the copying system software structure figure of multi-sensor integral measuring.
Among the figure: 1, profiling machine mechanism body, 2, profiling machine Z axle, 3, the profiling machine machining spindle, 4, multisensor is measured main shaft, and 5, CCD photographic measurement sensor, 6, the liquid crystal grating projector, 7, digital camera, 8, contact measuring head, 9, object being measured, 10, wheel measuring platform, 11, gib screw, 12, standard ball, 13, laser feeler (can be a point laser feeler, can be the line laser gauge head), 14, the profiling machine worktable, 15, demarcate plug.
Embodiment
Based on the copying system architecture of multi-sensor integral measuring as shown in Figure 1.Dismountable multisensor is measured main shaft 4 and profiling machine main shaft 3 is installed on the Z axle 2 of profiling machine structural body 1 side by side, it is dismountable that multisensor is measured main shaft 4, it is installed on the profiling machine Z axle 2 by gib screw 11 and (also profiling machine machining spindle 3 and multisensor can be measured the merging of main shaft 4 structures, adopt and change the mounting means realization.Machine tool chief axis cutter clamping by standard connects annex, and the survey sensor that multisensor is measured on the main shaft 4 directly is installed on the profiling machine machining spindle 3, carries out surveying work.When surveying work finishes, in the time of need carrying out copying, be docked in process tool and get final product).Multisensor is measured on the main shaft CCD photographic measurement sensor 5, laser feeler 13 and contact measuring head 8 is installed.Wherein there is the projector 6 based on liquid crystal grating the centre of CCD photographic measurement sensor, and respectively there is a digital camera 7 at two ends.Profiling machine worktable 14 can move in the XY plane, universal stage 10 can be installed on the worktable 14 take measurement of an angle to be convenient for changing.Before measuring beginning, the demarcation of contact measuring head 8, laser feeler 13 and CCD photographic measurement sensor 5 is by standard ball 12 auxiliary finishing.The demarcation of universal stage 10 is positioned over auxiliary finishing on the universal stage by demarcating plug 15.
Based on the contour machining method process flow diagram of multi-sensor integral measuring as shown in Figure 2.At first demarcate the origin position of contact measuring head 8, laser feeler 13 and CCD photographic measurement sensor 5, demarcate the universal stage centre coordinate with standard plug 15 with standard ball 12.After system calibration is finished target object is fixed on the universal stage 10 with corresponding frock clamp, adjusts profiling machine worktable 14 and profiling machine Z axle 2, make the position of CCD photographic measurement sensor 5 and target object 9 be in the orientation that is suitable for measuring most.After the position adjustment finished, CCD survey sensor 5 was started working, and according to the feature of target object 9, the liquid crystal grating projector 6 projects the appropriate measurement point of density degree to target object 9 surfaces.CCD camera 7 is subsequently from two angle shots measurement point image after through target object 9 surface modulation, handles the image of picked-up according to principle of stereoscopic vision, calculates the D coordinates value of measurement point, and imports the three-dimensional reconstruction module with general format.The three-dimensional reconstruction module is at first carried out deburring, filtering, pre-service such as level and smooth to vision point cloud, then the geological information that obtains is from different perspectives superposeed based on system coordinate system, the differential character of recovery point cloud, and extract the contour feature and the curved surface features of target object, reconstruct the three-dimensional model of target object.Because the precision of CCD photographic measurement is limited, so this is the rough model of a target object.After rough Model Reconstruction was finished, laser feeler 13, contact measuring head 8 served as to instruct target object 9 is carried out the secondary measurement with the rough aspect of model.Wherein laser feeler 13 utilizes free form surface variable curvature adaptive measuring algorithm, and slow gradual change curved surface is carried out scanning survey, and contact measuring head 8 is measured border, key feature and the laser scanning blind area of target object 9 according to the algorithm based on the rectangle segmentation.Laser point cloud that obtains and probe points cloud import three-dimensional reconstruction module, the smart three-dimensional model of reconstructed object object with general format.The similar process of setting up of process of reconstruction and rough three-dimensional model.After the accurate three-dimensional modelling is finished, can amplify as required or dwindle, can also make amendment, to realize the flexibility copying some feature.After reverse measurement is finished, measure main shafts 4, suffer damage when the Milling Process to prevent survey sensor by gib screw 11 dismounting multisensors.At last the accurate three-dimensional model being imported the copying module, is to instruct to carry out thick, finishing with the accurate model.At different shape faces, roughing provides two kinds of machining path planning algorithms: based on the algorithm of polyhedral model with based on the algorithm of Z-Map model, wherein the algorithm based on polyhedral model is fit to the processed complex curved surface, but calculation of complex, the cutter base pressure is big; Use is based on the algorithm of Z-Map model, and the cutter base pressure is little, but direct processed complex curved surface poor effect.In the method for fine finishing,, but calculate more complicated based on the algorithm energy processed complex curved surface of polyhedral model; Little based on the anti-finishing algorithm computation complexity in cross section of asking, but process velocity is slower; Finishing algorithm process velocity based on the imaginary space is very fast, but relative accuracy is lower.After thickness processing, copying is finished.
Based on the copying software system structure of multi-sensor integral measuring as shown in Figure 3.Software systems are mainly formed by measuring control module, three-dimensional reconstruction module and copying module three parts.Wherein measuring control module provides CCD measurement function and cad model to instruct the Intelligent Fusion measurement function of following laser feeler and contact measuring head.The three-dimensional reconstruction module provides some cloud preprocessing function and has put cloud feature identification function.In the one action flow process of copying, three-dimensional reconstruction module and measurement control module have three secondary data transmission, after the CCD photographic measurement finishes, measure control module vision point cloud is imported the three-dimensional reconstruction module with general format, reconstruction is based on the rough model of vision point cloud, rough model after finishing is led back and is measured control module, instructs laser feeler and contact measuring head to carry out the accurate measurement amount.Laser point cloud and probe points cloud imported the three-dimensional reconstruction module once more after the accurate measurement amount was finished, reconstructed object object accurate model.Importing the copying module after finishing processes.The copying module mainly provides roughing planning and finishing planning function, selects suitable algorithmic rule machining path at different curved surfaces, finishes copying.
Claims (4)
1. based on the contour machining method of multi-sensor integral measuring, it is characterized in that: comprise reverse measuring process and copying process.Reverse measuring process utilizes the CCD photographic measurement that target object is carried out bigness scale earlier, obtains the three-dimensional geometry data of target object roughly, and imports the three-dimensional reconstruction module with general format.The three-dimensional reconstruction module is carried out pre-service to vision point cloud earlier, then the rough three-dimensional model of reconstructed object object.Laser feeler, contact measuring head are with the guidance that is characterized as of the rough three-dimensional model of target object, automatically target object is carried out accurate measurement, accurately obtain the three-dimensional geometry data of target object, and import the three-dimensional reconstruction module once more with general format, reconstructed object object accurate three-dimensional model, and by demand the accurate three-dimensional model is made amendment.The copying process utilizes the accurate three-dimensional model of target object to generate thick, finishing path, realizes copying.
2. the contour machining method based on multi-sensor integral measuring according to claim 1, it is characterized in that: described reverse measuring process: at first according to the characteristics of measured profile, the measurement point that uses the liquid crystal grating projection rationally to distribute, adopt the image of two CCD camera picked-ups subpoint after the curved surface modulation, utilize principle of stereoscopic vision to calculate the geological information of object being measured.System takes measurement of an angle by the universal stage change, realizes the measurement of complex parts.Gained data importing three-dimensional reconstruction module, the geological information that obtains is from different perspectives superposeed based on system coordinate system after the CCD measurement is finished, reconstruct the roughcast type of target object.According to the feature of this roughcast type, instruct laser feeler that the slow gradual change curved surface on target object surface is carried out scanning survey then, instruct contact measuring head to measure surface boundary, key feature position and laser scanning blind area.After reverse measurement finishes, system is on rough model basis, laser point cloud, probe points cloud are imported the three-dimensional reconstruction module with general format, and mate stack by system coordinate system, after deburring, filtering, pre-service such as level and smooth, recovery point cloud differential character reconstructs the three-dimensional model of target object.The amplification of can be according to demand in the Model Reconstruction process model being carried out feature modification, arbitrary proportion such as dwindles at operation, to realize the flexibility profiling.
3. the contour machining method based on multi-sensor integral measuring according to claim 1, it is characterized in that: described copying process: at the free form surface of different characteristic, the copying module provides based on the brilliant and roughing path planning algorithm Z-Map model, and based on brilliant, the counter finishing path planning algorithm of asking the cross section and the imaginary space.The copying module according to the three-dimensional model of target object, is selected reasonably processing algorithm for each shape face earlier, generates numerical control machining code then automatically, by digital control system control lathe, finishes copying.
4. based on the copying system of multi-sensor integral measuring, it is characterized in that: dismountable multisensor is measured main shaft (4) and profiling machine main shaft (3) is installed on the Z axle (2) of profiling machine structural body (1) side by side, and multisensor is measured main shaft (4) and is installed on the profiling machine Z axle (2) by gib screw (11); Multisensor is measured on the main shaft CCD photographic measurement sensor (5), laser feeler (13) and contact measuring head (8) is installed; Wherein there is the projector based on liquid crystal grating (6) centre of CCD photographic measurement sensor (5), and respectively there is a digital camera (7) at two ends; The worktable of profiling machine (14) can move in the XY plane; Universal stage (10) can be installed on the worktable (14), take measurement of an angle to be convenient for changing.
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