CN102494657A - Measuring head radius compensation method for curve surface profile measuring and detecting - Google Patents
Measuring head radius compensation method for curve surface profile measuring and detecting Download PDFInfo
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- CN102494657A CN102494657A CN2011104126128A CN201110412612A CN102494657A CN 102494657 A CN102494657 A CN 102494657A CN 2011104126128 A CN2011104126128 A CN 2011104126128A CN 201110412612 A CN201110412612 A CN 201110412612A CN 102494657 A CN102494657 A CN 102494657A
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Abstract
The invention relates to a measuring and detecting method for profile lines of curve surface workpieces and discloses a measuring head radius compensation method for curve surface profile measuring and detecting. In the measuring head radius compensation method, a measuring head scans and selects points along a mark line of a section profile to form measuring head profile line point cloud, a scanning line is respectively added on the left side and the right side of the mark line of the section profile, a plurality of points which are closest to any point P in the measuring head profile point cloud are selected, an overfitting plane is built, and measuring radius compensation P' is achieved through a plane normal vector. By adopting the method, after projection calculation, data of measuring profile point cloud of a designed position can be obtained. The measuring head radius compensation method for curve surface profile measuring and detecting is high in measuring accuracy and can particularly meet the requirements for profile line measuring and quality detecting of large workpieces with complex curve surfaces.
Description
Technical field
The present invention relates to the measurement and the detection method of curve surface work pieces outline line, relate in particular to the gauge head radius compensation method that a kind of curved surface profile is measured and detected.
Background technology
A kind of means as the product design manufacturing; In early 1990s, reverse-engineering begins to cause the great attention of various countries' industry member and academia, hereafter; About the research of reverse-engineering and use and just receive people's concern always; Particularly, utilize CAD/CAM technology, advanced manufacturing technology to realize that product reverse-engineering in kind has become a research focus in CAD/CAM field, and become the main contents that reversal technique is used along with the development of The present computer technology and measuring technology.It is two gordian techniquies of reverse modeling that the digitizing of part and cad model are rebuild.
Implement reverse-engineering, at first will extract the three-dimensional coordinate information of subject surface, the measuring method that reverse-engineering adopts mainly is divided into two big types: contact and contactless.When adopting contact measuring head to measure; Because the influence of gauge head radius; The coordinate data that obtains not is the coordinate of the surface point that touches of gauge head; But the coordinate of the gauge head centre of sphere, when the surperficial direction of normal of measured point was consistent with the survey direction of principal axis, measuring point coordinate and gauge head center differed a gauge head radius value.Usually the gauge head radius is between 0.25mm～20mm, if ignore the gauge head radius, the data that promptly obtain are not carried out the radius compensation processing, will cause measuring error.When the pressure of gauge head was vowed (surperficial method arrow) and measured the cross section on a plane, the measurement point curve was a plane curve; When the pressure of gauge head was vowed (surperficial method arrow) and measured the cross section not on a plane, the measurement point line was a space curve.In general, reconstruction model is all bigger than normal in prototype in kind, and when the counter accuracy requirement of asking model was higher, the reply measurement data was carried out the gauge head compensation.
, extensively adopts CMM (three coordinate measuring machine) automatic compensating method of two dimension at present in measuring; Promptly when measuring; Measurement point and gauge head radius relationship all are processed into the situation of two dimension, and will compensates to calculate and enroll in the process of measurement, the gauge head of when measuring, accomplishing data automatically compensates.Compensation calculating has been simplified in this compensation method, do not influence to measure to adopt a little and sweep velocity, and to some surface measurements of forming by regular shape, plane, quadric surface etc., the two dimension compensation is accurate.But compound curved surface for some free form surfaces compositions; The Surface Method of point position is vowed usually and is surveyed axle not in same plane during measurement; Can exist error by the two dimension compensation this moment, under the situation that error can not be ignored, must consider measurement data is carried out the three-dimensional compensation of gauge head radius.
Summary of the invention
The present invention has designed and developed the gauge head radius compensation method that a kind of curved surface profile is measured and detected.In the present invention; Utilize gauge head to get a little along the scanning of cross section profile marking line; Form gauge head outline line point cloud, and at sweep trace of each side increase of cross section profile marking line, near the nearest some points of the selected distance any point P in the gauge head outline line point cloud; And construct fit Plane, vow the survey radius of a ball compensation P ' that realizes some P through the fit Plane method.Utilize this method after projection is calculated, can obtain design attitude (measuring wheel profile cloud data.Measuring accuracy of the present invention is high, can satisfy especially that the outline line with complex-curved large-scale workpiece is measured and the requirement of quality testing.
Technical scheme provided by the invention is:
The gauge head radius compensation method that a kind of curved surface profile is measured and detected may further comprise the steps:
Step 1, utilize gauge head to get a little along the cross section profile line sweep of workpiece for measurement; Form gauge head outline line point cloud; Utilize each side increase by at least one sweep trace of gauge head, form at least one left line point cloud and at least one right line point cloud at said cross section contour;
Some P in step 2, the said gauge head outline line point cloud of extraction; From said gauge head outline line point cloud, extract at least two nearest points with some P; And from the said left line point cloud of each bar, all extract with said gauge head outline line point cloud at least one nearest point of some P, from the said right line point cloud of each bar, all extract with said gauge head outline line point cloud at least one nearest point of some P, formation is organized; Utilize said some group fit Plane; And the method that obtains said fit Plane vows, a P is carried out radius compensation along direction of normal, obtains radius compensation point P ';
Preferably, in the gauge head radius compensation method that described curved surface profile is measured and detected, in the said step 1, utilizing gauge head is one in the number of the sweep trace that each side increases of said cross section contour.
Preferably; In the gauge head radius compensation method that described curved surface profile is measured and detected; In the said step 2; From said gauge head outline line point cloud, extract a point that is positioned at a point in P the place ahead and is positioned at a P rear, from a said left line point cloud, extract two nearest points, from a said right line point cloud, extract two nearest points with some P with some P.
Preferably, in the gauge head radius compensation method that described curved surface profile is measured and detected, in the said step 1, utilize gauge head to get a little, realize in the following manner along the cross section profile line sweep of workpiece for measurement:
With the manual cross section profile marking line that marks into of the cross section contour on said workpiece for measurement surface; The reference measurement coordinate system of selected workpiece for measurement; Make the coordinate axis of plane, said cross section profile marking line place, utilize gauge head to get a little along said cross section profile marking line scanning perpendicular to said reference measurement coordinate system.
Preferably; In the gauge head radius compensation method that described curved surface profile is measured and detected, in the said step 1, utilize gauge head to get a little along the cross section profile line sweep of workpiece for measurement; Form gauge head outline line point cloud; Utilize each side increase by at least one sweep trace of gauge head, form at least one left line point cloud and at least one right line point cloud, realize in the following manner at said cross section contour:
Utilize gauge head to get a little along workpiece for measurement cross section profile line sweep, the point that scanning is obtained is converted in the reference measurement coordinate system by the system coordinate system of measuring system, forms gauge head outline line point cloud,
Utilize each side increase by at least one sweep trace of gauge head at said cross section contour, the point that scanning is obtained is converted in the reference measurement coordinate system by the system coordinate system of measuring system, forms at least one left line point cloud and at least one right line point cloud.
Preferably, in the gauge head radius compensation method that described curved surface profile is measured and detected, in the said step 1; Utilize gauge head to get a little along the cross section profile line sweep; The point that scanning is obtained is converted in the reference measurement coordinate system by the system coordinate system of measuring system, forms gauge head outline line point cloud
Utilize each side increase by at least one sweep trace of gauge head at said cross section contour, the point that scanning is obtained is converted in the reference measurement coordinate system by the system coordinate system of measuring system, forms at least one left line point cloud and at least one right line point cloud,
Wherein, the point that scanning is obtained is converted in the reference measurement coordinate system by the system coordinate system of measuring system, realizes in the following manner:
The surface of said workpiece for measurement or near the selected reference point, and said system coordinate system and said reference measurement coordinate system have at least three reference points, said system coordinate system is converted into said reference measurement coordinate system through said at least three reference points.
Preferably, in the gauge head radius compensation method that described curved surface profile is measured and detected, the number of the reference point that said system coordinate system and said reference measurement coordinate system are total is more than four.
Preferably; In the gauge head radius compensation method that described curved surface profile is measured and detected; Said system coordinate system also comprise be provided with around the said workpiece for measurement, with the said reference measurement coordinate system system coordinate system of a system coordinate system at least at interval; And adjacent two system coordinate systems have at least three reference points, and said system coordinate system is converted into adjacent system coordinate system through at least three common reference points of the system coordinate system that is adjacent.
Preferably; In the gauge head radius compensation method that described curved surface profile is measured and detected; The number of the reference point that said adjacent two system coordinate systems are common is more than four, and the number of the reference point that said reference measurement coordinate system and the system coordinate system that is adjacent are common is more than four.
The gauge head radius compensation method that curved surface profile of the present invention is measured and detected utilizes gauge head to get a little along the scanning of cross section profile marking line; Form gauge head outline line point cloud; And closely respectively increase a sweep trace in the left and right sides of cross section profile marking line; For near the nearest some points of the selected distance any point P in the gauge head outline line point cloud, and construct fit Plane, vow the survey radius of a ball compensation P ' that realizes some P through the fit Plane method.Utilize this method after projection is calculated, can obtain the measuring wheel profile cloud data of design attitude.Measuring accuracy of the present invention is high, can satisfy especially that the outline line with complex-curved large-scale workpiece is measured and the requirement of quality testing.
Description of drawings
Fig. 1 is the schematic flow sheet of curved surface profile measuring method.
Fig. 2 is the synoptic diagram of the radius compensation of gauge head outline line point cloud mid point P.
Fig. 3 is the synoptic diagram of cross section projection.
The synoptic diagram that Fig. 4 establishes for the mark of reference measurement coordinate system among the embodiment.
Fig. 5 (a) is the vertical view that lay at the reference mark among the embodiment.
Fig. 5 (b) overlooks inclination figure for what laid at reference mark among the embodiment.
Fig. 6 is the planning synoptic diagram of embodiment middle section profile marking line.
Embodiment
Below in conjunction with accompanying drawing the present invention is done further detailed description, can implement according to this with reference to the instructions literal to make those skilled in the art.
Gauge head radius compensation method as shown in Figure 1, that the present invention provides a kind of curved surface profile to measure and detect may further comprise the steps:
Step 1, utilize gauge head to get a little along the cross section profile line sweep of workpiece for measurement; Form gauge head outline line point cloud; Utilize each side increase by at least one sweep trace of gauge head, form at least one left line point cloud and at least one right line point cloud at said cross section contour;
Some P in step 2, the said gauge head outline line point cloud of extraction; From said gauge head outline line point cloud, extract at least two nearest points with some P; And from the said left line point cloud of each bar, all extract with said gauge head outline line point cloud at least one nearest point of some P, from the said right line point cloud of each bar, all extract with said gauge head outline line point cloud at least one nearest point of some P, formation is organized; Utilize said some group fit Plane; And the method that obtains said fit Plane vows, a P is carried out radius compensation along direction of normal, obtains radius compensation point P ';
In the gauge head radius compensation method that described curved surface profile is measured and detected, in the said step 1, utilizing gauge head is one in the number of the sweep trace that each side increases of said cross section contour.
In the gauge head radius compensation method that described curved surface profile is measured and detected; In the said step 2; From said gauge head outline line point cloud, extract a point that is positioned at a point in P the place ahead and is positioned at a P rear; From a said left line point cloud, extract two nearest points, from a said right line point cloud, extract two nearest points with some P with some P.
In the gauge head radius compensation method that described curved surface profile is measured and detected; In the said step 1; Utilize gauge head to get a little along the cross section profile line sweep of workpiece for measurement; Realize in the following manner: with the manual cross section profile marking line that marks into of the cross section contour on said workpiece for measurement surface; The reference measurement coordinate system of selected workpiece for measurement makes the coordinate axis of plane, said cross section profile marking line place perpendicular to said reference measurement coordinate system, utilizes gauge head to get a little along said cross section profile marking line scanning.
In the gauge head radius compensation method that described curved surface profile is measured and detected; In the said step 1; Utilize gauge head to get a little along the cross section profile line sweep of workpiece for measurement; Form gauge head outline line point cloud, utilize each side increase by at least one sweep trace of gauge head, form at least one left line point cloud and at least one right line point cloud at said cross section contour; Realize in the following manner: utilize gauge head to get a little along workpiece for measurement cross section profile line sweep; The point that scanning is obtained is converted in the reference measurement coordinate system by the system coordinate system of measuring system, forms gauge head outline line point cloud, utilizes each side increase by at least one sweep trace of gauge head at said cross section contour; The point that scanning is obtained is converted in the reference measurement coordinate system by the system coordinate system of measuring system, forms at least one left line point cloud and at least one right line point cloud.
In the gauge head radius compensation method that described curved surface profile is measured and detected; In the said step 1; Utilize gauge head to get a little along the cross section profile line sweep, the point that scanning is obtained is converted in the reference measurement coordinate system by the system coordinate system of measuring system, forms gauge head outline line point cloud; Utilize each side increase by at least one sweep trace of gauge head at said cross section contour; The point that scanning is obtained is converted in the reference measurement coordinate system by the system coordinate system of measuring system, forms at least one left line point cloud and at least one right line point cloud, wherein; The point that scanning is obtained is converted in the reference measurement coordinate system by the system coordinate system of measuring system; Realize in the following manner: the surface of said workpiece for measurement or near the selected reference point, and said system coordinate system and said reference measurement coordinate system have at least three reference points, said system coordinate system is converted into said reference measurement coordinate system through said at least three reference points.
In the gauge head radius compensation method that described curved surface profile is measured and detected, the number of the reference point that said system coordinate system and said reference measurement coordinate system are total is more than four.
In the gauge head radius compensation method that described curved surface profile is measured and detected; Said system coordinate system also comprise be provided with around the said workpiece for measurement, with the said reference measurement coordinate system system coordinate system of a system coordinate system at least at interval; And adjacent two system coordinate systems have at least three reference points, and said system coordinate system is converted into adjacent system coordinate system through at least three common reference points of the system coordinate system that is adjacent.
In the gauge head radius compensation method that described curved surface profile is measured and detected; The number of the reference point that said adjacent two system coordinate systems are common is more than four, and the number of the reference point that said reference measurement coordinate system and the system coordinate system that is adjacent are common is more than four.
Measure the outline of large-scale curved workpiece such as pneumatic equipment blades made, airframe, permissible accuracy is increasingly high on the one hand, need carry out the fast data collection at the scene on the other hand.With regard to existing measurement means; With respect to systems such as other three coordinate measuring machines, photogrammetric, transit surveys; The laser tracker measuring system has that precision height, efficient are high, measurement range is big, volume is little, be easy to carry, can carry out advantage such as work on the spot, the precision measurement of the large-scale workpiece that is particularly suitable for being not easy to move.Therefore, the present invention uses the laser tracker measuring system.And, in the gauge head scanning process, be hand-hold scanning.
1, the principle of work of laser tracker measuring system and measurement requirement
The laser tracker measuring system mostly is made up of laser tracking head, controller, computing machine, reverberator (gauge head) and measurement annex etc.Its basic functional principle is; Follower head emission laser is followed the tracks of reverberator; Twin shaft angle measuring system and range measurement system by instrument calculate the locus of reverberator in spherical coordinate system; Utilize instrument calibration parameter and meteorological sensor that systematic error and atmospheric environment error are compensated again, obtain accurate volume coordinate.Wherein range measurement system is made up of the laser interference stadimeter (IFM) of relative distance measurement and the device (ADM) of absolute distance measurement, and as disconnected light takes place, the latter can be used for recovering measurement in tracing process.
The metering system of laser tracker comprises static object measurement, dynamic target tracking measurement etc.The static object measurement has modes such as single-point average measurement, match measurement or hidden place measurement.Dynamic tracking measurement is that laser tracker institute is peculiar, can be by time of setting or distance continuous sampling at interval.
Laser tracker has higher measuring accuracy, is example with the T3 of API, and radius 60m, IFM measuring accuracy 0.5 μ m/m, ADM measuring accuracy 15 μ m, angle measurement accuracy 3.5 μ m/m are followed the tracks of in the instrument nominal.But these precision indexs of instrument are not definitely constant, and itself and measurement environment, instrument self stability, tracking range etc. are closely related.Air pressure in the measurement environment, temperature, humidity, even vibrate the performance that not only can influence instrument itself, and workpiece for measurement is also had bigger influence, so the measurement result under the varying environment occurs than big-difference sometimes.The stability requirement of instrument must be calibrated and fully preheating before use.The software kit of general instrument all provides calibration function, and instrument all needs to recalibrate after changing through transportation or measurement environment.Because the high-accuracy property of instrument, warm causes that the apparatus structure slight change will influence the precision of instrument, thereby requires high-precision measurement must carry out abundant preheating.In addition, also need consider the influence to measurement result of measuring distance and angle, generally speaking measuring distance is nearer, the more little precision of angle measurement is high more.
The measuring principle of comprehensive above laser tracker and influence the factor of laser tracker measuring accuracy; When carrying out high-acruracy survey, require: (1) measuring distance remains within the limited field as far as possible; This has not only shortened measuring distance, and has reduced the scope of angle measurement; (2) to guarantee the fixing of laser tracker and workpiece for measurement; (3) guarantee that as far as possible the temperature of working environment and air pressure are constant; (4) carry out instrument calibration and fully preheating before the measurement; (5) there are enough spaces unrestricted around the measurand with what guarantee to measure.
2, large-scale curved workpiece profile line measuring method
If large-scale curved workpiece has design data, can be directly the design coordinate system down scanning obtain measurement data, with the error of minimizing data-switching and be convenient to the comparison of data.In addition, for large-scale curved workpiece, laser tracker can not have been surveyed whole data a position, need carry out multistation and measure, and the laying at reference mark and measurement are exactly a necessity and important work like this.
General using laser tracker measuring system is carried out the measurement of large-scale curved workpiece profile line, can be divided into following steps (as shown in Figure 1): (1) coordinate system mark is established and is measured; (2) reference mark is laid and is measured; (3) outline line position mark and collection; (4) cross-sectional data aftertreatment.Wherein the measurement at (2) middle reference mark is reported to the leadship after accomplishing a task each other with (3) and is carried out, and promptly takes the method for gathering while controlling.
3, the coordinate system mark is established and is measured
The reference measurement coordinate system of selected workpiece for measurement.The design coordinate system of as far as possible selecting large-scale curved workpiece is the reference measurement coordinate system, and a certain axle (like the Z axle) that preferably makes this reference measurement coordinate system is perpendicular to outline line (plane, cross section profile marking line place just).To design coordinate system as the reference measurement coordinate system, be for the cross-sectional data and the design data that will finally obtain compares, the convenient measuring accuracy of estimating.But in fact, be not limited in the selection of design coordinate system.
In order to confirm the reference measurement coordinate system, and also carry out coordinate conversion for ease between the system coordinate system of reference measurement coordinate system and measuring system, need at first to select at least three reference points near perhaps on the surface of workpiece for measurement.The reference point that will be used for token-based locating tab assembly coordinate system here is referred to as unique point again.The principle that the unique point mark is established is: the design coordinate of (1) unique point can be confirmed; (2) be the precision that guarantees the coordinate conversion of reference measurement coordinate system and system coordinate system, the number of unique point can not be less than 4; (3) unique point can not be located on the same line; (4) laser tracker can observe all unique points simultaneously on a survey station; (5) common unique point is positioned at the surface of workpiece for measurement.
When unique point is observed, be gauge head centre coordinate but not unique point coordinate because laser tracker obtains, therefore also need carry out the gauge head radius compensation to the data that scanning obtains.And the compensation process of this gauge head radius both can have been selected gauge head radius compensation method of the present invention, also can select method in the prior art.As adopt fitting process or penalty method to measure.Fitting process is the extension rod that utilizes the band prong, and makes needle point be positioned at unique point, and laser tracker scanning is positioned at the rotary motion trace at gauge head center, extension rod top, obtains characteristic point coordinates through the method for the match centre of sphere again.Also available some other approximating method like fit Plane, comes acquisition point coordinate etc. through the principle that three faces intersect at a point.Penalty method need be by special-shaped base, and base is positioned near the unique point, makes the position relative fixed at unique point and gauge head center and mutual spatial relationship (like distance) confirm, obtains the unique point coordinate through the method for calculating the compensation space relation.During concrete actual measurement, can select the measuring method of characteristic point based on principle easily.
The unique point coordinate that obtains through laser tracker is to be the system coordinate system of true origin with the laser tracker center; The coordinate in the design coordinate system according to unique point then can all be transformed into resultant all measurement data in system coordinate system in the design coordinate system, thereby realizes the contrast of curved surface profile measurement data and design data.Coordinate conversion error can not be poor greater than limit, obtain the outline data of submillimeter level, and its limit difference should be less than 0.5mm.
4, the reference mark is laid and is measured
For the less workpiece of scale, only need to confirm that a system coordinate system is just passable.At this moment, laser tracker can be accomplished the measurement to all profile marking line of surface of the work in the said system coordinate system, and these measurement data can all be converted in the reference measurement coordinate system through coordinate transform.
But for large-scale workpiece, it is often not enough only to set a system coordinate system.Therefore, need near workpiece, select a plurality of suitable system coordinate systems, promptly multi-drop is measured.When the multi-drop measurement is meant the measurement target that is fixed on the somewhere is measured; Only be placed on a measuring position to laser tracker and can not accomplish surveying work; Need through moving laser tracker (perhaps arranging many laser trackers); Position different is measured measurement target respectively, and the data that at last each station recorded forward to carries out Unified Treatment in the same coordinate system.Above-mentioned a plurality of measuring position just corresponding a plurality of system coordinate systems.
In order to guarantee the precision of the coordinate conversion between a plurality of system coordinate systems, also need be near workpiece for measurement or surperficial selected at least three reference points.Call the reference mark to the reference point between adjacent two system coordinate systems again here.The laying principle at reference mark is: (1) all reference mark should be evenly distributed on workpiece for measurement around; (2) for adjacent two survey stations (system coordinate system), must observe 3 identical reference mark in theory, but for guarantee to change 4 of station precision best observed or more than; (3) at each survey station, need the reference mark of observation also should be evenly distributed on laser tracker around.
The survey station of observational characteristic point is made as first survey station (supposing that this first survey station is first system coordinate system), the system coordinate system of laser tracker is transformed in the design coordinate system, the point coordinate that records of laser tracker all is the coordinate figure that designs in the coordinate system like this.Then spot measurement is carried out at the reference mark that can observe, and these reference mark can (suppose that this is second system coordinate system adjacent with first system coordinate system) at second station can repeated measures.So just realized the coordinate conversion between second system coordinate system and first system coordinate system.And then second system coordinate system is converted to the reference measurement coordinate system.The measurement at all the other each stations is all undertaken by above method.
Although the measuring accuracy of laser tracker is higher, consider the influence of environment, factor such as artificial, must carry out at least twice independent measurement to each reference mark, get the mean value of measurement data in the relatively poor scope, just can carry out the measurement of the next stop.
5, cross section contour mark and data acquisition
According to the curve surface of workpiece shape, a series of cross section profile line position need be planned out before measurement, and will on workpiece for measurement, be marked out the vestige of position.The real-time monitored function of Laser Tracking instrument system can relatively easily be accomplished the mark of outline line position.Vertical owing to cross section and Z axle being made as, only need observation Z value coordinate to get final product.But the Z coordinate at the gauge head center that is merely of system's demonstration at this moment is with a negligible less deviation of Z value existence at place, cross section.In when mark, the rugosity of position vestige should not surpass 1mm, and the gauge head marking line center of squinting is excessive when avoiding surveying.In addition, on a survey station, need all the cross section profile line positions within the observation scope are marked out.
Before the scanning of pair cross-section profile marking line, set each item measurement parameter of Laser Tracking instrument system, wherein for guaranteeing that precision can be 1mm with the distance samples frequency configuration.During scanning, hand-held gauge head keeps Continuous Sliding with image data along the cross section profile marking line.Though the Laser Tracking instrument system has continuous light function, when scanning with continuous light for well.On a survey station, the data acquisition of all the cross section profile marking line in the observation scope is accomplished in the restriction of visual equipment measuring distance.
For the precision that guarantees to measure, need in measuring process, carry out relatively poor checking.Before instrument changes the station, once more spot measurement is carried out at two above reference mark of our station, compare the precise decreasing that whether the existing of inspection apparatus moves and environment change causes with the reference mark data of having observed.After instrument changeed the station and accomplishes control survey and coordinate conversion, last two the outline line multiple scannings that need cross last scan compared with scan-data, judge whether to exist than large deviation.
6, the removal of redundant data in the measurement data
Hand-held gauge head can produce some redundant datas when scanning begins and finish.Based on the dot spacing of Z value coordinate and cloud data, threshold value is set can be removed the redundant points cloud.
7, the radius compensation of gauge head outline line point cloud mid point P
Utilize gauge head to get a little, form gauge head outline line point cloud along the scanning of cross section profile marking line.The gauge head outline line point cloud of gathering gained is merely the coordinate data at gauge head center, obtain the outline line point cloud of curve surface of workpiece, also must carry out the compensation of gauge head radius.
For the compensation of gauge head radius, key is to calculate the Surface Method vector of probe location when measuring.Comparatively ripe algorithm has 3 concyclic methods, little planar process, least square plane fitting process, Enveloped surface method, curve fitting method etc.Usually to wait to confirm the compensation method of gauge head radius according to the systematicness of measuring method, measuring object, the line face requirement of measurement data.The surface of general large-scale curved body is comparatively complicated, and the characteristics in conjunction with the hand-held gauge head of laser tracker is measured can adopt the least square plane fit method.Its principle is in the little field of measuring point P, gathers a plurality of RPs respectively, utilizes least square fitting to go out best fit plane, vows N with the method on this plane
pApproximate method vector as a P place carries out radius compensation.
Ultimate principle of the present invention be respectively increase in the both sides of workpiece cross section profile marking line at least one with cross section profile marking line parallel scanning beams, and form at least one left line point cloud and at least one right line point cloud.But generally speaking, the sweep trace of each side increase in the cross section profile marking line is called left line and right line respectively, and the distance of left line or right line and cross section profile marking line is looked curve form and decided, and is generally about 0.5cm.Three cloud datas be will scan when carrying out data acquisition in the sectional position like this, gauge head outline line point cloud, left line point cloud and right line point cloud will be respectively.
Be the basis with gauge head outline line cloud data, from left line point cloud and right line point cloud, extract suitable point respectively, and then form the some group, fit Plane also obtains normal, carries out the compensation of gauge head radius again.Particularly; Begin from second point of gauge head outline line cloud data; Be extracted in two points that are positioned at its front and back in the gauge head outline line point cloud; From left line point cloud and right line point cloud, all extract respectively again and two nearest points of this point,, carry out the gauge head radius compensation of gauge head outline line cloud data to comprise this 7 the little plane of some match (see figure 2)s.Rudimentary algorithm is following:
The general expression formula of plane equation is following:
Ax+By+Cz+D＝0，C≠0，
Be rewritten as:
Note:
Then:
z＝a
0x+a
1y+a
2
For n (n＞3) point (x
i, y
i, z
i), i=0,1L, n-1 comes the fit Plane equation, and least square method requires:
Minimum, then should satisfy:
That is:
Have:
Substitution P (x
p, y
p, z
p) coordinate of 7 points on every side, separate above-mentioned system of equations, a
0, a
1, a
2, the method vector that this plane is then arranged is N
p(a
0, a
1,-1), and carry out the N of unit
e, the coordinate of then putting the compensation point P ' of P is: (x, y, z)=(x
p, y
p, z
p)-rN
e, wherein r is the radius of gauge head.
Error about the gauge head radius compensation is relevant with the surface curvature of gauge head radius and tested curved body, and the gauge head radius is more little, and curvature is more little, and error is also more little.
8, cross section projection
The cross section projection is that the radius compensation point P ' with the some P in the gauge head outline line point cloud projects on the corresponding cross section.The projection of radius compensation point P ' on plane, cross section contour place can be confirmed by the intersection point on three planes; First plane was the fit Plane of P ' point; The method arrow of fit Plane is consistent with the method arrow that the some P in the gauge head outline line point cloud belongs to fit Plane, has obtained at last minute of instructions so cross the method arrow of the fit Plane of some P '; Second plane is the plane through P ' point and Z axle (or coordinate axis of vertical cross-section); The 3rd is projecting section (plane, cross section contour place) (as shown in Figure 3).
If the coordinate of radius compensation point P ' is P ' (x
0, y
0, z
0), need project to corresponding cross section z=z
iOn.The fit Plane equation of then crossing this point is following:
a
0(x-x
0)+a
1(y-y
0)-(z-z
0)＝0
Second plane is that its equation is following through the plane of this point and Z axle:
xy
0-yx
0＝0
Then the intersection point on three planes is following:
Separate this system of equations, obtain a P ' (x
0, y
0, z
0) subpoint P on the cross section " (x, y, z).
Embodiment
It is measuring object that the present invention has selected fan blade, and it is the key member of aerogenerator.The pneumatic equipment blades made moulding is special, space angle is complicated, length is big, size is more, demand strict technology.The blade of producing must be inspected by random samples, adopts the method for the invention to accomplish the cross section contour scanning survey of a certain blade to be measured, and compares with design size.This length of blade is 32.8m, root end face diameter 1.68m.The laser tracker measuring system is selected the T3 of API for use, and Survey Software is SPatial Analyer.
Fan blade root end face is the annular plane, can carry out the detection of flatness and circularity with the laser tracker measuring system to this plane.If this plane is the XY plane, circle ring center is initial point O, and the Z axle forms space right-handed coordinate system (see figure 4) perpendicular to the XY plane.As the reference measurement coordinate system, this coordinate system also is the design coordinate system of fan blade when producing with above-mentioned coordinate system.For the direction of X and Y axle, root leaves to identify and sets up in the time of can producing according to blade, i.e. orthogonal four the some a of line, b, c, d; These four some design coordinates are known, and the coordinate of ordering like a is (0.84,0; 0), can be used as the unique point that is used for token-based locating tab assembly coordinate system.When first stop is measured, under system coordinate system, measure above-mentioned four unique points, through the coordinate transformation function of laser tracker measuring system, system coordinate system is transformed into the design coordinate system.
The reference mark is laid and is measured
In order to accomplish the entire scan of blade, blade is promoted, the about 0.5m in distance from bottom ground, and fixed blade.(see Fig. 5 a), wherein 5 reference mark are positioned at (seeing Fig. 5 (b)) under the blade, can have 4 shared reference mark at least between the adjacent like this survey station to have laid 12 reference mark around the blade altogether.According to the size of blade and the measuring distance of laser tracker, be provided with 5 survey stations altogether and accomplish data scanning, see Fig. 5 (a).
Cross section contour mark and data acquisition
Because the complex structure of blade except that uniformly-spaced planning the cross section contour according to 1m between 30m 1, changes place greatly at curvature of curved surface, as 0.1; 4.5,23.7,24.5,25.5; 26.5,27.2,28.5; 29.7 positions such as 30.5 have increased the scanning (as shown in Figure 6) of cross section contour, have scanned the cross section contour of 40 positions altogether.Gather the cross section contour data and the scan-line data of all positions according to the gauge head radius compensation method that preamble of the present invention detailed.
Gauge head radius compensation and outline line cloud data
Utilize method of the present invention that the gauge head cross-sectional data that is collected is carried out the gauge head radius compensation.The gauge head radius that the T3 laser tracking measurement system of API is selected for use is 19.05mm.Table 1 has been listed the three-way scan-data (gauge head outline line point cloud, left line point cloud and right line point cloud) at 4.5m place; Sequence number is represented the Position Number of the some P in the gauge head outline line point cloud; In gauge head outline line point cloud, scan 2627 points altogether, listed the coordinate data of ten points wherein in the table.Table 2 has been listed radius corresponding offset data (the cross section contour cloud data that just obtains through the gauge head radius compensation).Simultaneously, the cross section projecting method of mentioning according to preceding text, with the data projection after the compensation to the standard planning position, so also be listed as the projected position data that behind the 4.5m place gauge head radius compensation in the table 2.
Scan-data (the unit: mm) of table 1 gauge head outline line point cloud, left line point cloud and right line point cloud
Table 2 gauge head radius compensation and data for projection (unit: mm)
The data comparison and analysis
In order to check the correctness of the method for the invention, final measurement data and design data are contrasted.Method is that the section line with the some cloud of the cross section contour that finally obtains and design data has carried out distance calculation.From this table can find out maximum just distance be 1.438, the maximum negative distance value be-2.735, is 0.159 apart from the average of difference, variance yields is 0.307, explains that this blade production is qualified, thereby has verified the correctness of the method for the invention.
Although embodiment of the present invention are open as above; But it is not restricted to listed utilization in instructions and the embodiment; It can be applied to various suitable the field of the invention fully, for being familiar with those skilled in the art, can easily realize other modification; Therefore under the universal that does not deviate from claim and equivalency range and limited, the legend that the present invention is not limited to specific details and illustrates here and describe.
Claims (9)
1. the gauge head radius compensation method that curved surface profile is measured and detected is characterized in that, may further comprise the steps:
Step 1, utilize gauge head to get a little along the cross section profile line sweep of workpiece for measurement; Form gauge head outline line point cloud; Utilize each side increase by at least one sweep trace of gauge head, form at least one left line point cloud and at least one right line point cloud at said cross section contour;
Some P in step 2, the said gauge head outline line point cloud of extraction; From said gauge head outline line point cloud, extract at least two nearest points with some P; And from the said left line point cloud of each bar, all extract with said gauge head outline line point cloud at least one nearest point of some P, from the said right line point cloud of each bar, all extract with said gauge head outline line point cloud at least one nearest point of some P, formation is organized; Utilize said some group fit Plane; And the method that obtains said fit Plane vows, a P is carried out radius compensation along direction of normal, obtains radius compensation point P ';
Step 3, repeating step two, obtain by with said gauge head outline line point cloud in the cross section contour point cloud that constitutes of some radius corresponding compensation point.
2. the gauge head radius compensation method that curved surface profile as claimed in claim 1 is measured and detected is characterized in that, in the said step 1, utilizing gauge head is one in the number of the sweep trace that each side increases of said cross section contour.
3. the gauge head radius compensation method that curved surface profile as claimed in claim 2 is measured and detected; It is characterized in that; In the said step 2; From said gauge head outline line point cloud, extract a point that is positioned at a point in P the place ahead and is positioned at a P rear, from a said left line point cloud, extract two nearest points, from a said right line point cloud, extract two nearest points with some P with some P.
4. the gauge head radius compensation method that curved surface profile as claimed in claim 1 is measured and detected is characterized in that, in the said step 1, utilizes gauge head to get a little along the cross section profile line sweep of workpiece for measurement, realizes in the following manner:
With the manual cross section profile marking line that marks into of the cross section contour on said workpiece for measurement surface; The reference measurement coordinate system of selected workpiece for measurement; Make the coordinate axis of plane, said cross section profile marking line place, utilize gauge head to get a little along said cross section profile marking line scanning perpendicular to said reference measurement coordinate system.
5. the gauge head radius compensation method that curved surface profile as claimed in claim 4 is measured and detected; It is characterized in that, in the said step 1, utilize gauge head to get a little along the cross section profile line sweep of workpiece for measurement; Form gauge head outline line point cloud; Utilize each side increase by at least one sweep trace of gauge head, form at least one left line point cloud and at least one right line point cloud, realize in the following manner at said cross section contour:
Utilize gauge head to get a little along workpiece for measurement cross section profile line sweep, the point that scanning is obtained is converted in the reference measurement coordinate system by the system coordinate system of measuring system, forms gauge head outline line point cloud,
Utilize each side increase by at least one sweep trace of gauge head at said cross section contour, the point that scanning is obtained is converted in the reference measurement coordinate system by the system coordinate system of measuring system, forms at least one left line point cloud and at least one right line point cloud.
6. the gauge head radius compensation method that curved surface profile as claimed in claim 5 is measured and detected; It is characterized in that; In the said step 1, utilize gauge head to get a little along the cross section profile line sweep, the point that scanning is obtained is converted in the reference measurement coordinate system by the system coordinate system of measuring system; Form gauge head outline line point cloud
Utilize each side increase by at least one sweep trace of gauge head at said cross section contour, the point that scanning is obtained is converted in the reference measurement coordinate system by the system coordinate system of measuring system, forms at least one left line point cloud and at least one right line point cloud,
Wherein, the point that scanning is obtained is converted in the reference measurement coordinate system by the system coordinate system of measuring system, realizes in the following manner:
The surface of said workpiece for measurement or near the selected reference point, and said system coordinate system and said reference measurement coordinate system have at least three reference points, said system coordinate system is converted into said reference measurement coordinate system through said at least three reference points.
7. the gauge head radius compensation method that curved surface profile as claimed in claim 6 is measured and detected is characterized in that, the number of the reference point that said system coordinate system and said reference measurement coordinate system are total is more than four.
8. the gauge head radius compensation method of measuring and detecting like claim 6 or 7 described curved surface profiles; It is characterized in that; Said system coordinate system also comprise be provided with around the said workpiece for measurement, with the said reference measurement coordinate system system coordinate system of a system coordinate system at least at interval; And adjacent two system coordinate systems have at least three reference points, and said system coordinate system is converted into adjacent system coordinate system through at least three common reference points of the system coordinate system that is adjacent.
9. the gauge head radius compensation method that curved surface profile as claimed in claim 8 is measured and detected; It is characterized in that; The number of the reference point that said adjacent two system coordinate systems are common is more than four, and the number of the reference point that said reference measurement coordinate system and the system coordinate system that is adjacent are common is more than four.
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