CN103234453A - Method for detecting geometric axis positional relation of special-shaped members based on spatial distance - Google Patents

Method for detecting geometric axis positional relation of special-shaped members based on spatial distance Download PDF

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Publication number
CN103234453A
CN103234453A CN2013101286143A CN201310128614A CN103234453A CN 103234453 A CN103234453 A CN 103234453A CN 2013101286143 A CN2013101286143 A CN 2013101286143A CN 201310128614 A CN201310128614 A CN 201310128614A CN 103234453 A CN103234453 A CN 103234453A
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special
coordinate
shaped component
axial lines
cloud data
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CN103234453B (en
Inventor
曹爽
赵轩
赵显富
孙景领
王新志
张育锋
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HUIST IMAGERY TECHNOLOGY ENGINEERING Co Ltd
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HUIST IMAGERY TECHNOLOGY ENGINEERING Co Ltd
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Abstract

The invention discloses a method for detecting geometric axis positional relation of special-shaped members based on a spatial distance. The method includes scanning the special-shaped members by two high-precision scanners to obtain point cloud data in any coordinate, performing point cloud matching, extracting and calculating axes of the two members, calculating distance d between the two axes, when satisfying, calculating an included angle of the two axes, comparing the included angle with a designed included angle to obtain errors, and judging whether the errors meet requirements or not. Geometric data of the special-shaped members are obtained by the aid of the three-dimensional laser scanners without contacting with the members, the point cloud data are processed by a computer, detection efficiency is high, and precision of the method is relatively high and can reach up to 0.02mm.

Description

Detection method based on the special-shaped component geometrical axis position of space length relation
Technical field
The invention belongs to and measure the detection technique field, be specifically related to a kind of detection method that concerns based on the special-shaped component geometrical axis position of space length.
Background technology
Special-shaped component is widely used in various building structure and engineering structure, as electric transmission pole tower, handling machinery, bridge, boats and ships, reaction tower etc.The physical dimension of special-shaped component is to judge whether qualified major parameter of special-shaped component, in some building structure and engineering structure (as angle steel structure iron tower of power transmission line, broadcasting television tower, microwave communication iron tower, transformer station's structure support of various electric pressures), this parameter has bigger influence to on-the-spot splicing smoothly and the performance of dependency structure.Therefore, need carry out precision to the physical dimension of special-shaped component detects and strict control.At present, also there is not suitable special-shaped component physical dimension accurate detecting method both at home and abroad.Practices well is the physical dimension of special-shaped component not to be carried out precision detect, and only detects roughly by classic method.
Summary of the invention
For addressing the above problem, the purpose of this invention is to provide a kind of detection method that concerns based on the special-shaped component geometrical axis position of space length, realize the on-the-spot high precision of special-shaped component physical dimension, obtain fast, determine the axis spatial relationship of special-shaped component, calculating axis angle value and design load compares, judge according to comparative result whether special-shaped component is qualified, thereby realize performance and the quality control of the accurate detection of special-shaped component physical dimension and various structures.
The apprizing system of sample treatment plant reaches above-mentioned technique effect for realizing above-mentioned technical purpose, and the present invention is achieved through the following technical solutions:
Detection method based on the special-shaped component geometrical axis position of space length relation may further comprise the steps:
Step 1) selects two high-precision three-dimensional laser scanners staggered relatively, and special-shaped component to be detected is positioned over arbitrarily between the two on the lifting table;
Step 2) target is set, sets up member designs Value Data storehouse;
Step 3) utilizes three-dimensional laser scanner that special-shaped component is scanned by the lifting table lifting, obtains the cloud data under the special-shaped component arbitrary system, the form of cloud data be (
Figure 792782DEST_PATH_IMAGE002
)
Figure 336021DEST_PATH_IMAGE004
Step 4) utilizes the sphere centre coordinate of target ball as the reference mark according to the target that arranges, and the cloud data of two scanners is mated, and the coordinate of two scanners is unified;
Step 5) is extracted the cloud data at member 1 place, its coordinate be (
Figure 115758DEST_PATH_IMAGE006
)
Figure 510967DEST_PATH_IMAGE008
, the cloud data of two place's differing heights sections of extraction member 1 utilizes the cloud data on the cross section to obtain the virtual point cloud coordinate in the center of circle of cross section circle by principle of least square match
Figure 512290DEST_PATH_IMAGE010
,
Figure 334753DEST_PATH_IMAGE012
, these 2 in theory should be on the axis of member 1;
Step 6) repeating step 4) and step 5), but member 2 axis are obtained in match Last 2 virtual point cloud coordinates
Figure 738369DEST_PATH_IMAGE016
,
Figure 407248DEST_PATH_IMAGE018
Step 7) is utilized
Figure 80238DEST_PATH_IMAGE020
Two point coordinate can calculate
Figure DEST_PATH_IMAGE021
Equation be:
, establish
Figure DEST_PATH_IMAGE025
,
Figure DEST_PATH_IMAGE027
,
Figure DEST_PATH_IMAGE029
, then
Figure 959202DEST_PATH_IMAGE030
Direction vector be
Step 8) is utilized
Figure 157282DEST_PATH_IMAGE014
Two point coordinate can calculate Equation be:
Figure 828752DEST_PATH_IMAGE034
, establish , ,
Figure 708611DEST_PATH_IMAGE040
, then
Figure 437533DEST_PATH_IMAGE014
Direction vector be
Figure 516347DEST_PATH_IMAGE042
Step 9) is utilized
Figure 201275DEST_PATH_IMAGE020
Straight-line equation appoint and get
Figure 972922DEST_PATH_IMAGE021
The virtual point cloud coordinate of going up any is designated as , utilize
Figure 743749DEST_PATH_IMAGE014
Straight-line equation appoint and get
Figure 96233DEST_PATH_IMAGE014
The virtual point cloud coordinate of going up any is designated as
Figure 38781DEST_PATH_IMAGE046
, the vector of 2 lines is
Figure 162202DEST_PATH_IMAGE048
, With
Figure 993071DEST_PATH_IMAGE014
The space length of two axial lines is made as
Figure 106521DEST_PATH_IMAGE050
, calculate
Figure 31752DEST_PATH_IMAGE052
When step 10) intersects when two axial lines, then
Figure 443010DEST_PATH_IMAGE054
, consider that member adds the allowable tolerance in man-hour, gives
Figure DEST_PATH_IMAGE055
A limit is poor, judges
Figure 504507DEST_PATH_IMAGE055
Whether satisfy , think then that when satisfying two axial lines intersects, wherein
Figure DEST_PATH_IMAGE059
The precision of value and industrial components production tolerance and selected three-dimensional laser scanner is relevant,
Figure DEST_PATH_IMAGE061
When step 11) intersects when two axial lines, ask the two axial lines intersection point
Figure DEST_PATH_IMAGE063
, each is got a bit on two axial lines
Figure DEST_PATH_IMAGE065
,
Figure DEST_PATH_IMAGE067
, obtain
Figure DEST_PATH_IMAGE069
Distance be respectively
Figure DEST_PATH_IMAGE071
, the angle of calculating two axial lines is
Figure DEST_PATH_IMAGE073
, compare with design load, according to error requirements, can judge whether special-shaped component 1 is qualified with the physical dimension of special-shaped component 2.
The invention has the beneficial effects as follows:
The present invention utilizes three-dimensional laser scanner to obtain the geometric data of special-shaped component, need not contact member itself, and Point Cloud Processing is utilized computer realization, its detection efficiency height, and precision height of the present invention is comparatively speaking, reaches as high as 0.02mm.
Above-mentioned explanation only is the general introduction of technical solution of the present invention, for can clearer understanding technological means of the present invention, and can be implemented according to the content of instructions, below with preferred embodiment of the present invention describe in detail as after.The specific embodiment of the present invention is provided in detail by following examples.
Embodiment
Below in conjunction with embodiment, describe the present invention in detail.
Detection method based on the special-shaped component geometrical axis position of space length relation may further comprise the steps:
Step 1) selects two high-precision three-dimensional laser scanners staggered relatively, and special-shaped component to be detected is positioned over arbitrarily between the two on the lifting table;
Step 2) target is set, sets up member designs Value Data storehouse;
Step 3) utilizes three-dimensional laser scanner that special-shaped component is scanned by the lifting table lifting, obtains the cloud data under the special-shaped component arbitrary system, the form of cloud data be (
Figure 539590DEST_PATH_IMAGE002
)
Figure 952117DEST_PATH_IMAGE004
Step 4) utilizes the sphere centre coordinate of target ball as the reference mark according to the target that arranges, and the cloud data of two scanners is mated, and the coordinate of two scanners is unified;
Step 5) is extracted the cloud data at member 1 place, its coordinate be (
Figure 980116DEST_PATH_IMAGE006
)
Figure 99382DEST_PATH_IMAGE008
, the cloud data of two place's differing heights sections of extraction member 1 utilizes the cloud data on the cross section to obtain the virtual point cloud coordinate in the center of circle of cross section circle by principle of least square match
Figure 289055DEST_PATH_IMAGE010
,
Figure 880223DEST_PATH_IMAGE012
, these 2 in theory should be on the axis of member 1;
Step 6) repeating step 4) and step 5), but member 2 axis are obtained in match
Figure 446333DEST_PATH_IMAGE014
Last 2 virtual point cloud coordinates
Figure 748002DEST_PATH_IMAGE016
,
Figure 46259DEST_PATH_IMAGE018
Step 7) is utilized
Figure 433378DEST_PATH_IMAGE020
Two point coordinate can calculate Equation be:
Figure 880726DEST_PATH_IMAGE023
, establish ,
Figure 286616DEST_PATH_IMAGE027
,
Figure 397792DEST_PATH_IMAGE029
, then Direction vector be
Step 8) is utilized
Figure 160977DEST_PATH_IMAGE014
Two point coordinate can calculate
Figure 872581DEST_PATH_IMAGE014
Equation be:
Figure 737769DEST_PATH_IMAGE034
, establish
Figure 814309DEST_PATH_IMAGE036
,
Figure 397737DEST_PATH_IMAGE038
,
Figure 834404DEST_PATH_IMAGE040
, then
Figure 819677DEST_PATH_IMAGE014
Direction vector be
Figure 129436DEST_PATH_IMAGE042
Step 9) is utilized Straight-line equation appoint and get
Figure 191250DEST_PATH_IMAGE021
The virtual point cloud coordinate of going up any is designated as
Figure 31030DEST_PATH_IMAGE044
, utilize
Figure 197175DEST_PATH_IMAGE014
Straight-line equation appoint and get
Figure 489616DEST_PATH_IMAGE014
The virtual point cloud coordinate of going up any is designated as
Figure 346714DEST_PATH_IMAGE046
, the vector of 2 lines is
Figure 978684DEST_PATH_IMAGE048
,
Figure 630245DEST_PATH_IMAGE030
With
Figure 675561DEST_PATH_IMAGE014
The space length of two axial lines is made as
Figure 257721DEST_PATH_IMAGE050
, calculate
Figure 806514DEST_PATH_IMAGE052
When step 10) intersects when two axial lines, then
Figure 894556DEST_PATH_IMAGE054
, consider that member adds the allowable tolerance in man-hour, gives A limit is poor, judges
Figure 298172DEST_PATH_IMAGE055
Whether satisfy
Figure 701472DEST_PATH_IMAGE057
, think then that when satisfying two axial lines intersects, wherein
Figure 648831DEST_PATH_IMAGE059
The precision of value and industrial components production tolerance and selected three-dimensional laser scanner is relevant,
Figure 403160DEST_PATH_IMAGE061
When step 11) intersects when two axial lines, ask the two axial lines intersection point
Figure 140172DEST_PATH_IMAGE063
, each is got a bit on two axial lines
Figure 601240DEST_PATH_IMAGE065
,
Figure 31084DEST_PATH_IMAGE067
, obtain
Figure 194081DEST_PATH_IMAGE069
Distance be respectively
Figure 734784DEST_PATH_IMAGE071
, the angle of calculating two axial lines is
Figure 378255DEST_PATH_IMAGE073
, compare with design load, according to error requirements, can judge whether special-shaped component 1 is qualified with the physical dimension of special-shaped component 2, and the component portion that detection is finished divides mark follow-up continuous detection other parts, and parameter can be drawn by above-mentioned steps.
The above only for the preferred embodiment of invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (1)

1. based on the detection method of the special-shaped component geometrical axis position of space length relation, it is characterized in that, may further comprise the steps:
Step 1) selects two high-precision three-dimensional laser scanners staggered relatively, and special-shaped component to be detected is positioned over arbitrarily between the two on the lifting table;
Step 2) target is set, sets up member designs Value Data storehouse;
Step 3) utilizes three-dimensional laser scanner that special-shaped component is scanned by the lifting table lifting, obtains the cloud data under the special-shaped component arbitrary system, the form of cloud data be (
Figure 2013101286143100001DEST_PATH_IMAGE002
)
Step 4) utilizes the sphere centre coordinate of target ball as the reference mark according to the target that arranges, and the cloud data of two scanners is mated, and the coordinate of two scanners is unified;
Step 5) is extracted the cloud data at member 1 place, its coordinate be (
Figure 2013101286143100001DEST_PATH_IMAGE006
)
Figure 2013101286143100001DEST_PATH_IMAGE008
, the cloud data of two place's differing heights sections of extraction member 1 utilizes the cloud data on the cross section to obtain the virtual point cloud coordinate in the center of circle of cross section circle by principle of least square match
Figure DEST_PATH_IMAGE010
, , these 2 in theory should be on the axis of member 1;
Step 6) repeating step 4) and step 5), but member 2 axis are obtained in match
Figure DEST_PATH_IMAGE014
Last 2 virtual point cloud coordinates ,
Figure DEST_PATH_IMAGE018
Step 7) is utilized
Figure DEST_PATH_IMAGE020
Two point coordinate can calculate
Figure DEST_PATH_IMAGE020A
Equation be:
Figure DEST_PATH_IMAGE022
, establish
Figure DEST_PATH_IMAGE024
, ,
Figure DEST_PATH_IMAGE028
, then Direction vector be
Figure DEST_PATH_IMAGE030
Step 8) is utilized
Figure DEST_PATH_IMAGE014A
Two point coordinate can calculate
Figure DEST_PATH_IMAGE014AA
Equation be:
Figure DEST_PATH_IMAGE032
, establish
Figure DEST_PATH_IMAGE034
,
Figure DEST_PATH_IMAGE036
,
Figure 2013101286143100001DEST_PATH_IMAGE038
, then
Figure DEST_PATH_IMAGE014AAA
Direction vector be
Figure DEST_PATH_IMAGE040
Step 9) is utilized
Figure DEST_PATH_IMAGE020AAA
Straight-line equation appoint and get
Figure DEST_PATH_IMAGE020AAAA
The virtual point cloud coordinate of going up any is designated as
Figure DEST_PATH_IMAGE042
, utilize
Figure DEST_PATH_IMAGE014AAAA
Straight-line equation appoint and get
Figure DEST_PATH_IMAGE014AAAAA
The virtual point cloud coordinate of going up any is designated as , the vector of 2 lines is
Figure DEST_PATH_IMAGE046
,
Figure DEST_PATH_IMAGE020AAAAA
With
Figure DEST_PATH_IMAGE014AAAAAA
The space length of two axial lines is made as
Figure DEST_PATH_IMAGE048
, calculate
Figure DEST_PATH_IMAGE050
When step 10) intersects when two axial lines, then
Figure DEST_PATH_IMAGE052
, consider that member adds the allowable tolerance in man-hour, gives
Figure DEST_PATH_IMAGE048A
A limit is poor, judges
Figure DEST_PATH_IMAGE048AA
Whether satisfy
Figure DEST_PATH_IMAGE054
, think then that when satisfying two axial lines intersects, wherein
Figure DEST_PATH_IMAGE056
The precision of value and industrial components production tolerance and selected three-dimensional laser scanner is relevant,
Figure DEST_PATH_IMAGE058
When step 11) intersects when two axial lines, ask the two axial lines intersection point
Figure DEST_PATH_IMAGE060
, each is got a bit on two axial lines ,
Figure DEST_PATH_IMAGE064
, obtain
Figure DEST_PATH_IMAGE066
Distance be respectively
Figure DEST_PATH_IMAGE068
, the angle of calculating two axial lines is
Figure DEST_PATH_IMAGE070
, compare with design load, according to error requirements, can judge whether special-shaped component 1 is qualified with the physical dimension of special-shaped component 2.
CN201310128614.3A 2013-04-15 2013-04-15 Based on the detection method of the special-shaped component geometrical axis position relationship of space length Expired - Fee Related CN103234453B (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103438835A (en) * 2013-08-23 2013-12-11 中联重科股份有限公司 Plate bending angle detection device and method
CN110553606A (en) * 2019-08-26 2019-12-10 广州供电局有限公司 method, device and equipment for monitoring horizontal axis difference of supporting type tubular bus of transformer substation
CN111932528A (en) * 2020-09-07 2020-11-13 广东明华机械有限公司 Torpedo quality detection method and system based on visual identification

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040051711A1 (en) * 1996-04-24 2004-03-18 Jerry Dimsdale Integrated system for quickly and accurately imaging and modeling three-dimensional objects
CN101387494A (en) * 2008-10-06 2009-03-18 天津大学 Geometrical dimensional measurement apparatus and method for large-sized tunnel tunnel segment component
CN101915558A (en) * 2010-08-09 2010-12-15 重庆交通大学 Geometric linear detection method of bridge member
CN102494657A (en) * 2011-12-12 2012-06-13 北京建筑工程学院 Measuring head radius compensation method for curve surface profile measuring and detecting

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040051711A1 (en) * 1996-04-24 2004-03-18 Jerry Dimsdale Integrated system for quickly and accurately imaging and modeling three-dimensional objects
CN101387494A (en) * 2008-10-06 2009-03-18 天津大学 Geometrical dimensional measurement apparatus and method for large-sized tunnel tunnel segment component
CN101915558A (en) * 2010-08-09 2010-12-15 重庆交通大学 Geometric linear detection method of bridge member
CN102494657A (en) * 2011-12-12 2012-06-13 北京建筑工程学院 Measuring head radius compensation method for curve surface profile measuring and detecting

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103438835A (en) * 2013-08-23 2013-12-11 中联重科股份有限公司 Plate bending angle detection device and method
CN103438835B (en) * 2013-08-23 2016-06-08 中联重科股份有限公司 A kind of sheet metal bending angle detection device and method
CN110553606A (en) * 2019-08-26 2019-12-10 广州供电局有限公司 method, device and equipment for monitoring horizontal axis difference of supporting type tubular bus of transformer substation
CN111932528A (en) * 2020-09-07 2020-11-13 广东明华机械有限公司 Torpedo quality detection method and system based on visual identification

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