CN103453849A - Method and device for three-dimensionally measuring complex curved surface parts through multi-optical-sensor cooperation - Google Patents

Abstract

The invention provides a method and device for three-dimensionally measuring complex curved surface parts through multi-optical-sensor cooperation. The problems of accuracy, efficiency and data integrity when optical measurement is conducted on the complex curved surface parts are solved. According to the method, surface structured light is utilized to conduct quick measurement on reflective complex curved surfaces, measured data measured and acquired by surface structured light are divided, measured data holes and discontinuous zones are determined, secondary measurement is conducted on the data holes and the discontinuous zones by a conoscopic holographic measuring head, point cloud data measured by a surface structured light visual sensor and a conoscopic holographic sensor are integrated in a same coordinate system through a global calibration and optimization registration method of the multiple sensors, and eventually integral three-dimensional point cloud data of the parts are acquired. The measuring system comprises a precise four-axis motion control system and a combination optical measuring head. High-efficiency and high-accuracy measurement for the reflective complex curved surface parts is achieved.

Description

Complex curved surface parts method for three-dimensional measurement and system that many optical sensors are collaborative

Technical field

The invention belongs to the precision measurement field, be specifically related to the collaborative fast precise three-dimension measuring system of many optical sensors and method.It is particularly useful for the noncontact fast precise measurement of the complex curved surface parts such as aeromotor, gas turbine blades.

Technical background

Complex curved surface parts is owing to having the high-performance surface, complex-shaped, measures difficulty large, and existing technology can't realize that high precision, high-level efficiency are without applying the purpose of measuring simultaneously.Such as blade is part very crucial in aeromotor, gas turbine, its working environment is very severe, bears the multiple load such as aerodynamic force and centrifugal force simultaneously, and any manufacturing defect all can have influence on final work efficiency and the serviceable life of engine.Therefore, increasing blade is manufactured enterprise and has been proposed the absolutely requirement of full inspection.Blade profile is according to its section line shape or with profile, bent angle, the isoparametric three-dimensional feature curved design of distortion.The measuring method of main application is special measuring tool or three coordinate measuring machine at present.They can't meet blade profile line, torsion angle, bent angle and chord length fully, especially the isoparametric Measurement accuracy of front and rear edge radius.And these two kinds of methods also have following problem, the special measuring tool measuring accuracy is low, labour intensity is large; The blade of each model need to be manufactured many cover measurers, and cost is high, the cycle is long, manufacture difficulty is large.Three-dimensional coordinates measurement can only be measured limited blade profile molded line, the information of acquisition limited (may be overproof between two molded line); When blade is measured, due to three-shaft linkage, be difficult to realize fully the normal direction measurement, and the normal error backoff algorithm is complicated, low precision; Change violent place (as the blade front and rear edge) in curvature, realize accurately measuring difficulty large; Cost is high, the cycle is long (particularly large-scale blades), obtain master data need about 30 ?time of 40 minutes, obtain total data and need to spend several hours longer time even, and current method more can't meet the demand of the full inspection of full survey.

To sum up, invent a kind of new fast, accurate, measuring system and method will be very significant cheaply.

Summary of the invention

The object of the present invention is to provide the collaborative complex curved surface parts method for three-dimensional measurement of a kind of many optical sensors, realize the Measurement accuracy of complex curved surface parts Quick Measurement and part detail.Although area-structure light measuring technique measuring speed is fast, when complex curved surface parts application structure light is carried out to the optical non-contact measurement, be difficult to guarantee integrality, the precision of measurement data; Although, and that cone light polarization holographic method can be measured metal surface part and the measuring accuracy of any luminance brightness is high, this commercial measurement speed is slow.The present invention combines area-structure light vision Quick Measurement and the holographic precision measurement method of cone light polarization, there are the characteristics that measuring speed is fast, precision is high while measuring complex curved surface parts, simultaneously by global calibration and the optimization method for registering of multisensor, area-structure light vision sensor and the cloud data that cone light polarization holographic sensor records are unified under the same coordinate system, the simple template with three intersecting planes of take in the global calibration process is basis, and method is simple, robustness good, can obtain higher global calibration precision.High-level efficiency, the high-acruracy survey of complex curved surface parts have finally been realized.

The present invention realizes that the technical scheme that goal of the invention adopts is that this measuring method comprises the steps:

Step 1, the parameter of demarcating the area-structure light vision sensor, the true origin of demarcating cone light polarization holographic sensor, demarcate the axis of universal stage and the position relationship of area-structure light vision sensor and cone light polarization holographic sensor;

Step 2, application surface structured light vision sensor and cone light polarization holographic sensor are measured the polyhedron calibrated bolck respectively, obtain respectively the cloud data P of polyhedron calibrated bolck ₁and P ₂; Use P ₂simulate f ₁, f ₂, f ₃three planes; f ₄for the side of polyhedron calibrated bolck, it and f ₁and f ₂intersect and f ₃non-intersect; The cloud data P that the scanning of area-structure light vision sensor is obtained ₁the cloud data P that scanning obtains with cone light polarization holographic sensor ₂with simulated, as the f on initial plane ₁, f ₄characteristic matching is carried out on plane, to determine cloud data P ₁and P ₂corresponding point set;

Step 3, utilize the clustering method on the unit quaternion ball to solve rotation matrix, obtain translation vector with the method for averaging, calibrate world coordinates and unify transition matrix and translation vector, complete unified coordinate, make area-structure light vision sensor and cone light polarization holographic sensor be operated under the same coordinate system;

Step 4, the method for using area-structure light and the holography of cone light polarization to combine are measured complex curved surface parts, and the three dimensional point cloud of acquisition is synthesized under unified coordinate, finally obtain the complete three dimensional point cloud of part.

The present invention realizes that the measuring system that goal of the invention adopts is that this measuring system comprises following composition:

Form the combination optical gauge head by area-structure light vision sensor and cone light polarization holographic sensor, measuring system of the present invention is comprised of combination optical gauge head, four axes motion control section, three parts of support, it is characterized in that:

The four axes motion control section is mainly by X-axis screw mandrel guide rail, Y-axis screw mandrel guide rail and with auxiliary guide rail, Z axis screw mandrel guide rail, the universal stage of being controlled by servomotor, the slidably pedestal one of being controlled by servomotor, the slidably pedestal two of being controlled by servomotor, the slidably pedestal three of being controlled by servomotor of Y-axis screw mandrel guide rail parallel, slidably pedestal four forms;

Combination optical gauge head (2) is connected with Z axis screw mandrel guide rail (10) by the slidably pedestal three (1) of being controlled by servomotor;

Described Z axis screw mandrel guide rail (10) is connected with X-axis screw mandrel guide rail (3) by the slidably pedestal one (4) of being controlled by servomotor;

One end of described X-axis screw mandrel guide rail (3) is connected with Y-axis screw mandrel guide rail (15) by the slidably pedestal two (16) of being controlled by servomotor, and the other end of described X-axis screw mandrel guide rail (3) is connected with an auxiliary guide rail (12) that is parallel to Y-axis screw mandrel guide rail (15) by pedestal four (17) slidably;

Fixture (6) is fixedly connected with the upper surface of the universal stage (7) of being controlled by servomotor;

Tested part (5) is fixedly connected with the universal stage (7) of being controlled by servomotor by fixture (6);

Y-axis screw mandrel guide rail (15) is fixedly connected with base platform (8) by support (9), and described auxiliary guide rail (12) is fixedly connected with base platform by support (11,13,14).

Below in conjunction with accompanying drawing and example, the present invention will be further described in detail.

The accompanying drawing explanation

Fig. 1 measuring method workflow diagram of the present invention;

Fig. 2 measuring method global coordinate system of the present invention is demarcated process flow diagram;

Fig. 3 global coordinate system is demarcated with polyhedron calibrated bolck schematic diagram;

Fig. 4 global coordinate system is demarcated with the polyhedron calibrated bolck and is made the coordinate schematic diagram:

Fig. 5 global coordinate system is demarcated with polyhedron calibrated bolck f ₁the Plane Angle schematic diagram;

Fig. 6 global coordinate system is demarcated with polyhedron calibrated bolck f ₂the Plane Angle schematic diagram;

The front view of Fig. 7 measuring system of the present invention;

The vertical view of Fig. 8 measuring system of the present invention.

Embodiment

The principle of work of measuring method of the present invention is: at first the combination gauge head is carried out to the global coordinate system demarcation, make area-structure light vision sensor and vertebra light polarization holographic sensor be operated under the same coordinate system; Then with the area-structure light vision sensor in the combination optical gauge head, complex curved surface parts is carried out to Quick Measurement, obtain the magnanimity three dimensional point cloud of part, cloud data is processed, determine measurement data hole and discontinuity zone, move to corresponding position by 4 axle control system band mantle light polarization holographic sensors and carry out meticulous measurement, finally obtain the complete point cloud data of part.Workflow is as Fig. 1.

Measuring method provided by the invention comprises the steps:

Step 1, the parameter of demarcating the area-structure light vision sensor, the true origin of demarcating cone light polarization holographic sensor, demarcate the axis of universal stage and the position relationship of area-structure light vision sensor and cone light polarization holographic sensor;

Step 2, application surface structured light vision sensor and cone light polarization holographic sensor are measured the polyhedron calibrated bolck respectively, obtain respectively the cloud data P of polyhedron calibrated bolck ₁and P ₂; Use P ₂simulate f ₁, f ₂, f ₃three planes; f ₄for the side of polyhedron calibrated bolck, it and f ₁and f ₂intersect and f ₃non-intersect; The cloud data P that the scanning of area-structure light vision sensor is obtained ₁the cloud data P that scanning obtains with cone light polarization holographic sensor ₂with simulated, as the f on initial plane ₁, f ₄characteristic matching is carried out on plane, to determine cloud data P ₁and P ₂corresponding point set;

The detailed process of step 2 is as Fig. 2. and application surface structured light vision sensor and cone light polarization holographic sensor are measured the polyhedron calibrated bolck respectively, obtain the cloud data P of polyhedron calibrated bolck ₁and P ₂, owing to using P ₂the f simulated ₁, f ₂, f ₃three plane surveying precision are higher, so using these three planes as reference plane in the global calibration process.Plane f ₁, f ₂, f ₃normal vector be respectively n ₁, n ₂and n ₃.By normal vector, polyhedron calibrated bolck plane is numbered, determines that two sensors obtain the corresponding plane f of cloud data ₁, f ₂, f ₃and f ₄.With plane f ₁and f ₄for initial plane, fixing stride value is set and carries out bias plane, solve respectively initial plane and cloud data P ₁and P ₂intersection point numbering, and then definite cloud data P ₁and P ₂corresponding point, the biasing step pitch in the present invention is set to 1mm.

Step 3, utilize the clustering method on the unit quaternion ball to solve rotation matrix, obtain translation vector with the method for averaging, calibrate world coordinates and unify transition matrix and translation vector, complete unified coordinate, make area-structure light vision sensor and cone light polarization holographic sensor be operated under the same coordinate system;

Because area-structure light vision sensor and the cone light polarization holographic sensor of synergistic combination measuring system of the present invention are measured same object, what each measurement data was described is same object, therefore can think that testee is through rigid body translation, from global coordinate system from an evolution to the another one position.Therefore solving world coordinates unifies transition matrix and translation vector, has just completed global coordinate system and has demarcated unification, makes area-structure light vision sensor and cone light polarization holographic sensor be operated under the same coordinate system.

Step 4, the method for using area-structure light and the holography of cone light polarization to combine are measured complex curved surface parts, and the three dimensional point cloud of acquisition is synthesized under unified coordinate, finally obtain the complete three dimensional point cloud of part.

In the embodiment of the present invention, in described step 2, polyhedron calibrated bolck and as the f of reference plane ₁, f ₂, f ₃being characterized as of three planes: make the inclined-plane f that two angles of inclination are respectively α, β on square ₁, f ₂.F ₃for with f ₁, f ₂crossing upper surface.

Polyhedron calibrated bolck geometric properties is simple, and its structure is as Fig. 3.At first determine coordinate during making, as Fig. 4.Make the inclined-plane f that two angles of inclination are respectively α, β on square ₁, f ₂, respectively as Fig. 5, Fig. 6, timing signal only utilizes two clinoplane f ₁, f ₂with upper surface f ₃three intersecting planes get final product, and make relatively easily, and the making precision is high, expense is low; According to area-structure light vision measurement and cone light polarization holographic measurement principle design, obtain more sufficient some cloud information and noise than other features in measuring process little, can significantly improve the precision of demarcation; And use plane as the matching characteristic of demarcating, data are processed easily, are beneficial to and find the corresponding point feature, thereby improve the efficiency of demarcating and reduce artificial impact.

In the embodiment of the present invention, in described step 3, the concrete grammar that solves rotation matrix R and translation vector T is: the methods such as application units' Quaternion Method, singular value decomposition method (SVD), orthogonal matrix method and dual quaterion method, and utilize formula (1) to solve rotation matrix R and translation vector T.

$E(R,T)=\frac{1}{N}{\mathrm{\Σ}}_{i=1}^N{\left|\right|P_{1i}-({\mathrm{RP}}_{2i}+T)\left|\right|}^2,i=\mathrm{1,2},\·\·\·N---\left(1\right)$

Wherein make function E (R, T) obtain the R of minimum value, T is exactly rotation matrix and the translation vector that will solve, and N chooses from three dimensional point cloud, the right quantity of corresponding point for demarcating coordinate.

It is exactly the rigid motion transformation matrix solved under world coordinates between two positions that global coordinate system is demarcated unified essence, and the measurement data of supposing the area-structure light vision sensor is P ₁, these data are at its coordinate system R ₁under; The measurement data of cone light polarization holographic sensor is P ₂, these data are at its coordinate system R ₂under.Suppose selected coordinate system R ₁as global coordinate system, coordinate system R ₁with coordinate system R ₂there is a following transformation relation, as the formula (2).In formula, R is 3 * 3 rotation of coordinate matrixes, and T is 3 * 1 coordinate translation vectors.

$\left[\begin{array}{c}{P}_1\\ 1\end{array}\right]=\left[\begin{array}{c}\mathrm{RT}\\ 01\end{array}\right]\left[\begin{array}{c}{\mathrm{<figure-callout\; id="2"\; label="P"\; filenames="130718164715.png,130718164720.png"\; state="\{\{state\}\}">P</figure-callout>}}_2\\ 1\end{array}\right]---\left(2\right)$

In the present invention, the area-structure light vision sensor can obtain mass cloud data in the short time, and due to problems such as measurement noises, it is inaccurate that a single point in the selected point cloud or several point are demarcated.Therefore, consider whole point cloud data, global calibration just becomes problem as the formula (1), makes function obtain the R of minimum value, and T is exactly rotation matrix and the translation vector that finally will solve, and N is the quantity that corresponding point are right.

In the embodiment of the present invention, the concrete steps that described step 4 obtains the complete three dimensional point cloud of complex curved surface parts are:

Step 1, use area-structure light measuring method, utilize phase value constraint and polar curve constraint to find the corresponding point of binocular stereo vision left and right image, calculate measured reflective complex-curved depth information by the triangle principle, obtain reflective complex-curved three dimensional point cloud under described unified coordinate;

Step 2, the three dimensional point cloud that step 1 is obtained is cut apart, the quantity of regulation neighborhood point is K, calculate the eigenwert of neighborhood point, determine local curvature and the normal vector of neighborhood point according to the eigenwert of neighborhood point, carry out the frontier point of specified data hole and discontinuity zone according to eigenwert, in order definite frontier point is connected into to the border that the polygon broken line forms digit punch hole and discontinuity zone, setovered and enlarge and project to the new border of formation on cloud data in border, delete the cloud data between data hole and discontinuity zone border and new projection formation border, in described neighborhood point, definite foundation of the frontier point of data hole and discontinuity zone is: in three eigenwerts of this point, minimal eigenvalue levels off to 0, and other two eigenwerts have certain difference,

Step 3, to step 2 Data Segmentation result, the discontinuity zone after processing, as the zone of cone light polarization holographic measurement, to these zone numbers, is set up cone light polarization holographic measurement zone list to be measured;

Step 4, according to step 3, set up the zone number in cone light polarization holographic measurement zone list to be measured, data hole and discontinuity zone are carried out to the filling based on local curvature of curved surface, has filled and rear these filling points have been carried out to real-time normal vector calculating;

Step 5, to increasing on the normal vector of each filling point of step 4 a bit, increase point and equal to bore the measuring distance that the holographic gauge head of light polarization is given with the distance of filling point, then calculate X, the Y, the Z coordinate that increase;

Step 6, calculate X, Y, the Z coordinate that increases point according to step 5, by the holographic gauge head of the multi-shaft precise control section band mantle light polarization of measuring system, move to and increase point and in real time this point is measured;

Step 7, the data that will bore the point cloud model inside that the discontinuous and hole location data of some cloud that the light polarization holographic method records and structural light measurement method obtain are synthetic under unified coordinate, obtain the complete point cloud data that complex curved surface parts is measured.

The combination optical gauge head is comprised of area-structure light vision sensor and cone light polarization holographic sensor, in the present invention, the area-structure light vision sensor refers to by the area-structure light grid to testee surface projection coding (typical projection surface structure sinusoidal grating image is to the testee surface), apply various coding/decoding methods (sinusoidal grating phase calculation, phase unwrapping is wrapped up in) image that polyphaser is photographed simultaneously decoded, decoded picture is carried out to corresponding point matching, carry out high computational based on principle of triangulation, the finished surface structure light vision is measured, obtain the dense three dimensional point cloud of blade surface, the holographic precision measurement sensor of cone light polarization refers to converge illumination and be mapped to the measured object surface when some when a branch of in the present invention, this is named a person for a particular job and scatters the scattered light of multiple direction, forming the cone light beam returns through polarizer and uniaxial crystal, thereby produce ordinary ray and special ray component, the two-beam component produces interferes, thereby realize the measurement to measured object surface topography, 3D shape and distance, obtain the accurate three-dimensional coordinate data of piece surface.

The present invention realizes that the measuring system that goal of the invention adopts comprises following ingredient: combination optical gauge head, four axes motion control section, support, the front view that Fig. 7 is measuring system, the vertical view that Fig. 8 is measuring system.Be specially: the combination optical gauge head is comprised of area-structure light vision sensor and cone light polarization holographic sensor;

The four axes motion control section is mainly by X-axis screw mandrel guide rail, Y-axis screw mandrel guide rail and with auxiliary guide rail, Z axis screw mandrel guide rail, the universal stage of being controlled by servomotor, the slidably pedestal one of being controlled by servomotor, the slidably pedestal two of being controlled by servomotor, the slidably pedestal three of being controlled by servomotor of Y-axis screw mandrel guide rail parallel, slidably pedestal four forms;

Combination optical gauge head 2 is connected with Z axis screw mandrel guide rail 10 by the slidably pedestal 31 of being controlled by servomotor;

Described Z axis screw mandrel guide rail 10 is connected with X-axis screw mandrel guide rail 3 by the slidably pedestal 1 of being controlled by servomotor;

One end of described X-axis screw mandrel guide rail 3 is connected with Y-axis screw mandrel guide rail 15 by the slidably pedestal 2 16 of being controlled by servomotor, and the other end of described X-axis screw mandrel guide rail 3 is connected with an auxiliary guide rail 12 that is parallel to Y-axis screw mandrel guide rail 15 by pedestal 4 17 slidably;

Fixture 6 is fixedly connected with the upper surface of the universal stage 7 of being controlled by servomotor;

Tested part 5 is fixedly connected with the universal stage 7 of being controlled by servomotor by fixture 6;

Y-axis screw mandrel guide rail 15 is fixedly connected with base platform 8 by support 9, and described auxiliary guide rail 12 is fixedly connected with base platform by support 11,13,14.

Accurate four axes motion control system comprises can adjust the far and near X-axis kinetic control system of distance between combination optical gauge head and tested part, Y-axis kinetic control system that can be in the vision sensor visual field perpendicular to the assurance part of X-axis on the XY plane, drive perpendicular to the XY plane A axle kinetic control system that combination optical is surveyed cephalomotor Z axis kinetic control system and driven the part rotation.X, Y, Z axis kinetic control system wherein is comprised of precision linear module, precision linear grating scale and servomotor, and in the embodiment of the present invention, its effective travel is respectively 700mm, 600mm and 500mm.A axle kinetic control system is comprised of precision rotation platform, circle grating and servomotor.

For the slidably pedestal 31 of being controlled by servomotor, the driving by servomotor can make combination optical gauge head 2 move at vertical direction along Z axis screw mandrel guide rail 10; For the slidably pedestal 1 of being controlled by servomotor, by the driving of servomotor, can make Z axis screw mandrel guide rail 10 and connection combination optical gauge head 2 thereon slide in the horizontal direction along X-axis screw mandrel guide rail 3 simultaneously; For the slidably pedestal 2 16 of being controlled by servomotor, by the driving of servomotor, can make X-axis screw mandrel guide rail 3, Z axis screw mandrel guide rail 10 and on combination optical gauge head 2 along Y-axis screw mandrel guide rail 15, slide simultaneously; Use fixture 6 tested part 5 to be fixed on the universal stage 7 of being controlled by servomotor, the driving by servomotor can make part 5 together rotate with universal stage 7.Therefore accurate four axes motion control system in effective travel, realize four-axle linked, by movement position coordinate Real-time Feedback to the combination optical gauge head, the D coordinates value of computation and measurement part.

In the embodiment of the present invention, the fixture 6 described in measuring system is pneumatic gripping device.

The present invention organically combines area-structure light vision measuring method and cone light polarization holographic measurement method, utilize that area-structure light vision measuring method measuring speed is fast, the high characteristics of cone light polarization holographic method measuring accuracy, simultaneously by global calibration and the optimization method for registering of multisensor, area-structure light vision sensor and the part cloud data that cone light polarization holographic sensor records are unified under the same coordinate system, have realized high-level efficiency, the high-acruracy survey of reflective complex curved surface parts.

Claims (6)

1. the collaborative complex curved surface parts method for three-dimensional measurement of optical sensor more than a kind, the measuring system of its use comprises four axes motion control system and combination optical gauge head two parts, the method by means of area-structure light to the reflective complex-curved Quick Measurement that carries out, the measurement data that the opposite structural light measurement obtains is cut apart, determine measurement data hole and discontinuity zone, adopt the holographic gauge head of cone light polarization to carry out double measurement to data hole and discontinuity zone, it is characterized in that: this measuring method is realized by following steps:

Step 1, the parameter of demarcating the area-structure light vision sensor, the true origin of demarcating cone light polarization holographic sensor, demarcate the axis of universal stage and the position relationship of area-structure light vision sensor and cone light polarization holographic sensor;

Step 2, application surface structured light vision sensor and cone light polarization holographic sensor are measured the polyhedron calibrated bolck respectively, obtain respectively the cloud data P of polyhedron calibrated bolck ₁and P ₂; Use P ₂simulate f ₁, f ₂, f ₃three planes; f ₄for the side of polyhedron calibrated bolck, it and f ₁and f ₂intersect and f ₃non-intersect; The cloud data P that the scanning of area-structure light vision sensor is obtained ₁the cloud data P that scanning obtains with cone light polarization holographic sensor ₂with simulated, as the f on initial plane ₁, f ₄characteristic matching is carried out on plane, to determine cloud data P ₁and P ₂corresponding point set;

Step 3, utilize the clustering method on the unit quaternion ball to solve rotation matrix, obtain translation vector with the method for averaging, calibrate world coordinates and unify transition matrix and translation vector, complete unified coordinate, make area-structure light vision sensor and cone light polarization holographic sensor be operated under the same coordinate system;

Step 4, the method for using area-structure light and the holography of cone light polarization to combine are measured complex curved surface parts, and the three dimensional point cloud of acquisition is synthetic under same coordinate, finally obtain the complete three dimensional point cloud of part.

2. the collaborative complex curved surface parts method for three-dimensional measurement of many optical sensors according to claim 1 is characterized in that: in described step 2, and polyhedron calibrated bolck and as the f of reference plane ₁, f ₂, f ₃being characterized as of three planes: make the inclined-plane f that two angles of inclination are respectively α, β on square ₁, f ₂.F ₃for with f ₁, f ₂crossing upper surface.

3. the collaborative complex curved surface parts method for three-dimensional measurement of many optical sensors according to claim 1, it is characterized in that: in described step 3, the concrete grammar that solves rotation matrix R and translation vector T is: the methods such as application units' Quaternion Method, singular value decomposition method (SVD), orthogonal matrix method and dual quaterion method, and utilize formula (1) to solve rotation matrix R and translation vector T.

$E(R,T)=\frac{1}{N}{\mathrm{\&Sigma;}}_{i=1}^N{\left|\right|P_{1i}-({\mathrm{RP}}_{2i}+T)\left|\right|}^2,i=\mathrm{1,2},...N---\left(1\right)$

Wherein make function E (R, T) obtain the R of minimum value, T is exactly rotation matrix and the translation vector that will solve, and N chooses from three dimensional point cloud, the right quantity of corresponding point for demarcating coordinate.

4. the collaborative complex curved surface parts method for three-dimensional measurement of many optical sensors according to claim 1 is characterized in that: the concrete steps that described step 4 obtains the complete three dimensional point cloud of complex curved surface parts are:

Step 1, use area-structure light measuring method, utilize phase value constraint and polar curve constraint to find the corresponding point of binocular stereo vision left and right image, calculate measured reflective complex-curved depth information by the triangle principle, obtain reflective complex-curved three dimensional point cloud under described unified coordinate;

Step 2, the three dimensional point cloud that step 1 is obtained is cut apart, the quantity of regulation neighborhood point is K, calculate the eigenwert of neighborhood point, determine local curvature and the normal vector of neighborhood point according to the eigenwert of neighborhood point, carry out the frontier point of specified data hole and discontinuity zone according to eigenwert, in order definite frontier point is connected into to the border that the polygon broken line forms digit punch hole and discontinuity zone, setovered and enlarge and project to the new border of formation on cloud data in border, delete the cloud data between data hole and discontinuity zone border and new projection formation border, in described neighborhood point, definite foundation of the frontier point of data hole and discontinuity zone is: in three eigenwerts of this point, minimal eigenvalue levels off to 0, and other two eigenwerts have certain difference,

Step 3, to step 2 Data Segmentation result, the discontinuity zone after processing, as the zone of cone light polarization holographic measurement, to these zone numbers, is set up cone light polarization holographic measurement zone list to be measured;

Step 4, according to step 3, set up the zone number in cone light polarization holographic measurement zone list to be measured, data hole and discontinuity zone are carried out to the filling based on local curvature of curved surface, has filled and rear these filling points have been carried out to real-time normal vector calculating;

Step 5, to increasing on the normal vector of each filling point of step 4 a bit, increase point and equal to bore the measuring distance that the holographic gauge head of light polarization is given with the distance of filling point, then calculate X, the Y, the Z coordinate that increase;

Step 6, calculate X, Y, the Z coordinate that increases point according to step 5, by the holographic gauge head of the multi-shaft precise control section band mantle light polarization of measuring system, move to and increase point and in real time this point is measured;

Step 7, the data that will bore the point cloud model inside that the discontinuous and hole location data of some cloud that the light polarization holographic method records and structural light measurement method obtain are synthetic under unified coordinate, obtain the complete point cloud data that complex curved surface parts is measured.

5. the measuring system of a complex curved surface parts, the collaborative complex curved surface parts method for three-dimensional measurement of many optical sensors according to claim 1 is measured complex-curved, form the combination optical gauge head by area-structure light vision sensor and cone light polarization holographic sensor, this measuring system is comprised of combination optical gauge head, four axes motion control section, three parts of support, it is characterized in that:

The four axes motion control section is mainly by X-axis screw mandrel guide rail, Y-axis screw mandrel guide rail and with auxiliary guide rail, Z axis screw mandrel guide rail, the universal stage of being controlled by servomotor, the slidably pedestal one of being controlled by servomotor, the slidably pedestal two of being controlled by servomotor, the slidably pedestal three of being controlled by servomotor of Y-axis screw mandrel guide rail parallel, slidably pedestal four forms;

Combination optical gauge head (2) is connected with Z axis screw mandrel guide rail (10) by the slidably pedestal three (1) of being controlled by servomotor;

Described Z axis screw mandrel guide rail (10) is connected with X-axis screw mandrel guide rail (3) by the slidably pedestal one (4) of being controlled by servomotor;

One end of described X-axis screw mandrel guide rail (3) is connected with Y-axis screw mandrel guide rail (15) by the slidably pedestal two (16) of being controlled by servomotor, and the other end of described X-axis screw mandrel guide rail (3) is connected with an auxiliary guide rail (12) that is parallel to Y-axis screw mandrel guide rail (15) by pedestal four (17) slidably; Fixture (6) is fixedly connected with the upper surface of the universal stage (7) of being controlled by servomotor;

Tested part (5) is fixedly connected with the universal stage (7) of being controlled by servomotor by fixture (6);

Y-axis screw mandrel guide rail (15) is fixedly connected with base platform (8) by support (9), and described auxiliary guide rail (12) is fixedly connected with base platform by support (11,13,14).

6. the measuring system of a kind of complex curved surface parts according to claim 5, is characterized in that, described fixture (6) is pneumatic gripping device.

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